Research advance on key technology of EMG-based Control for Hand Exoskeleton Robots

Surface electromyographic(sEMG) signals can directly reflect the human neuromuscular activity with non-invasive, collection convenient, safe, and can be able to adapt to the special nature of the physiological state of patients with hemiplegia, which is widely used as a source of hand rehabilitation robot control. The processed multi-channel sEMG signals corresponding to identify the target movement model can translated into robot motion control instruction, and input hand rehabilitation exoskeleton controller which would active patients' hand to complete the realization of the similar action finally. In this paper, the recent key technology of sEMG based control for hand rehabilitation robots are reviewed. Then a summarization of controlling technology principle and methods of sEMG signal processing employed by the hand rehabilitation exoskeletons is presented. Finally one identification method which can really describe the characteristics of sEMG signal is put forward tentatively and its' practical application in hand exoskeleton control is commented also.