sEMG-Based control of an exoskeleton robot arm

Authors:
Baocheng Wang;Chenguang Yang;Zhijun Li;Alex Smith
Affiliations:
Department of Automation, Shanghai Jiao Tong University, Shanghai, China;School of Computing and Mathematics, Plymouth University, UK;Department of Automation, Shanghai Jiao Tong University, Shanghai, China, College of Automation Science and Engineering, South China University of Technology, Guangzhou, China;School of Computing and Mathematics, Plymouth University, UK
Venue:
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II
Year:
2012

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Abstract

This paper investigates the processing of surface electromyographic (sEMG) signals collected from the forearm of a human subject and, based on which, a control strategy is developed for an exoskeleton arm. In this study, we map the motion of elbow and wrist to the corresponding joints of an exoskeleton arm. Linear Discriminant Analysis (LDA) based classifiers are introduced as the indicator of the motion type of the joints, and then with the force of corresponding agonist muscles the control signal is produced. In the strategy, which is different from the conventional method, we assign one classifier for each joint, decomposing the motion of the two joints into independent parts, making the recognition of the forearm motion a combination of the results of different joints. In addition, training time is reduced and recognition of motion is simplified.