Using Surface Electromyography Signals to Control an Exoskeleton Arm Driven by Pneumatic Artificial Muscles

This paper is concerned with the use of surface electromyography (sEMG) signals to control an exoskeleton arm driven by pneumatic artificial muscles (PAM). The acquisition and processing of the sEMG signals are first discussed and then used in the controls algorithm for driving the PAM-activated exoskeleton arm. The sEMG signals are generated by repeated cycles of the human arm in flexion-extension movements, causing the exoskeleton arm to move repeatedly in unison in our experimental setup.