Application of EMG signals for controlling exoskeleton robots
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Christian Fleischer
Abstract
Exoskeleton robots are mechanical constructions attached to human body parts, containing actuators for influencing human motion. One important application area for exoskeletons is human motion support, for example, for disabled people, including rehabilitation training, and for force enhancement in healthy subjects. This paper surveys two exoskeleton systems developed in our laboratory. The first system is a lower-extremity exoskeleton with one actuated degree of freedom in the knee joint. This system was designed for motion support in disabled people. The second system is an exoskeleton for a human hand with 16 actuated joints, four for each finger. This hand exoskeleton will be used in rehabilitation training after hand surgeries. The application of EMG signals for motion control is presented. An overview of the design and control methods, and first experimental results for the leg exoskeleton are reported.
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©2006 by Walter de Gruyter Berlin New York
Articles in the same Issue
- Biosignal Processing: various concepts, various applications – but a common drive
- Detection of directed information flow in biosignals
- Data mining in medical time series
- State-space analysis of joint angle kinematics in normal treadmill walking
- From diagnostics to therapy – conceptual basis for real-time movement feedback in rehabilitation medicine
- Investigations of back muscle fatigue by simultaneous 31P MRS and surface EMG measurements
- Application of EMG signals for controlling exoskeleton robots
- Processing of physiological signals in automotive research
- Tracer kinetic analysis of signal time series from dynamic contrast-enhanced MR imaging
- A fiber optic sensor system for control of rate-adaptive cardiac pacemakers and implantable defibrillators / Ein faseroptisches Sensorsystem zur Steuerung von frequenzadaptiven Herzschrittmachern und implantierbaren Defibrillatoren
- Investigation of the influence of blood flow rate on large vessel cooling in hepatic radiofrequency ablation / Untersuchung des Einflusses der Blutflussgeschwindigkeit auf die Gefäßkühlung bei der Radiofrequenzablation von Lebertumoren
- Determination of oxygen saturation and hematocrit of flowing human blood using two different spectrally resolving sensors / Bestimmung von Sauerstoffsättigung und Hämatokrit an fließendem Blut mit zwei verschiedenen spektralen Sensoren
- Karl Fischer titration and coulometry for measurement of water content in small cartilage specimens / Bestimmung des Wassergehalts in kleinen Knorpelproben durch Karl-Fischer-Titration und Coulometrie
- Synergistic effects of mixed TiAlV and polyethylene wear particles on TNFα response in THP-1 macrophages / Synergistische Effekte gemischter TiAlV- und Polyethylen-Abriebpartikel auf die TNFα-Antwort in THP-1 Makrophagen
- FE-Simulation zur Lokalisierung hoch beanspruchter Bereiche in der Hüftpfanne von Endoprothesen / FE-analysis of surface stresses for the tribological system in total hip prostheses
- Partial hemi-resurfacing of the hip joint – a new approach to treat local osteochondral defects? / Gelenkoberflächen-Teilersatz am Hüftgelenk – ein neuer Ansatz zur Behandlung osteochondraler Defekte?
- Stellungnahme zu „Der Einfluss von Laserlichtbestrahlung niedriger Leistungsdichte auf einen experimentellen Knorpelschaden im Kniegelenk des Kaninchens: eine in vivo-Untersuchung unter Berücksichtigung makroskopischer, histologischer und immunhistochemischer Veränderungen”; Biomed Tech 2006; 51: 131–138
- Contents index volume 51 (2006)
- Author index volume 51 (2006)
Articles in the same Issue
- Biosignal Processing: various concepts, various applications – but a common drive
- Detection of directed information flow in biosignals
- Data mining in medical time series
- State-space analysis of joint angle kinematics in normal treadmill walking
- From diagnostics to therapy – conceptual basis for real-time movement feedback in rehabilitation medicine
- Investigations of back muscle fatigue by simultaneous 31P MRS and surface EMG measurements
- Application of EMG signals for controlling exoskeleton robots
- Processing of physiological signals in automotive research
- Tracer kinetic analysis of signal time series from dynamic contrast-enhanced MR imaging
- A fiber optic sensor system for control of rate-adaptive cardiac pacemakers and implantable defibrillators / Ein faseroptisches Sensorsystem zur Steuerung von frequenzadaptiven Herzschrittmachern und implantierbaren Defibrillatoren
- Investigation of the influence of blood flow rate on large vessel cooling in hepatic radiofrequency ablation / Untersuchung des Einflusses der Blutflussgeschwindigkeit auf die Gefäßkühlung bei der Radiofrequenzablation von Lebertumoren
- Determination of oxygen saturation and hematocrit of flowing human blood using two different spectrally resolving sensors / Bestimmung von Sauerstoffsättigung und Hämatokrit an fließendem Blut mit zwei verschiedenen spektralen Sensoren
- Karl Fischer titration and coulometry for measurement of water content in small cartilage specimens / Bestimmung des Wassergehalts in kleinen Knorpelproben durch Karl-Fischer-Titration und Coulometrie
- Synergistic effects of mixed TiAlV and polyethylene wear particles on TNFα response in THP-1 macrophages / Synergistische Effekte gemischter TiAlV- und Polyethylen-Abriebpartikel auf die TNFα-Antwort in THP-1 Makrophagen
- FE-Simulation zur Lokalisierung hoch beanspruchter Bereiche in der Hüftpfanne von Endoprothesen / FE-analysis of surface stresses for the tribological system in total hip prostheses
- Partial hemi-resurfacing of the hip joint – a new approach to treat local osteochondral defects? / Gelenkoberflächen-Teilersatz am Hüftgelenk – ein neuer Ansatz zur Behandlung osteochondraler Defekte?
- Stellungnahme zu „Der Einfluss von Laserlichtbestrahlung niedriger Leistungsdichte auf einen experimentellen Knorpelschaden im Kniegelenk des Kaninchens: eine in vivo-Untersuchung unter Berücksichtigung makroskopischer, histologischer und immunhistochemischer Veränderungen”; Biomed Tech 2006; 51: 131–138
- Contents index volume 51 (2006)
- Author index volume 51 (2006)
