Analysis of Continuous Motion Angle for Lower Limb Exoskeleton Robot Based on sEMG Signal

In this paper, the state of real-time motion angle corresponding to the surface electromyography signal (sEMG) in the process of exoskeleton robot assisted motion is analyzed, and a new control analysis method for exoskeleton robot is proposed. The method of wavelet decomposition is used to analyze the characteristics of sEMG signals, which can accurately extract the eigenvalues of sEMG signals from different angles. The extracted eigenvalues are used as the input of SVM classification and recognition, pattern recognition is carried out, and the relationship between the eigenvalues and the corresponding motion angle is established. At the same time, the surface EMG signals of the start and stop time in the process of continuous movement of the lower limbs are analyzed to obtain a more accurate relationship between the start and stop state and the eigenvalue. By comparing the analysis results with the actual movement angle state information, the correctness of the analysis results is verified, which provides a theoretical basis for the follow-up research of the lower extremity exoskeleton robot.