Gastrocnemius myoelectric control of a robotic hip exoskeleton

In this paper we present a novel EMG-based assistive control strategy for lower-limb exoskeletons. An active pelvis orthosis (APO) generates torque profiles for the hip flexion motion assistance, according to the Gastrocnemius Medialis EMG signal. The strategy has been tested on one healthy subject:...

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Bibliographic Details
Published in2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) Vol. 2015; pp. 3881 - 3884
Main Authors Grazi, Lorenzo, Crea, Simona, Parri, Andrea, Tingfang Yan, Cortese, Mario, Giovacchini, Francesco, Cempini, Marco, Pasquini, Guido, Micera, Silvestro, Vitiello, Nicola
Format Conference Proceeding Journal Article
LanguageEnglish
Published United States IEEE 01.01.2015
Subjects
Adult
Electromyography
Equipment Design
Exoskeleton Device
Exoskeletons
Hip
Hip - physiology
Humans
Male
Muscle, Skeletal - physiology
Muscles
Pelvis - physiology
Radio frequency
Robotics - instrumentation
Robots
Torque
Walking - physiology
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Summary:In this paper we present a novel EMG-based assistive control strategy for lower-limb exoskeletons. An active pelvis orthosis (APO) generates torque profiles for the hip flexion motion assistance, according to the Gastrocnemius Medialis EMG signal. The strategy has been tested on one healthy subject: experimental results show that the user is able to reduce his muscular activation when the assistance is switched on with respect to the free walking condition.
ISSN:1094-687X
1557-170X
DOI:10.1109/EMBC.2015.7319241