Motion Detection Enhanced Control of an Upper Limb Exoskeleton Robot for Rehabilitation Training

The paper studies the control design of an exoskeleton robot based on electromyography (EMG). An EMG-based motion detection method is proposed to trigger the rehabilitation assistance according to user intention. An adaptive control scheme that compensates for the exoskeleton's dynamics is employed, and it is able to provide assistance tailored to the human user, who is supposed to participate actively in the training process. The experiment results verify the effectiveness of the control method developed in this paper.