Development of EMG based Upper Arm Exoskeleton
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This research paper presents the study on design of arm exoskeleton for stroke rehabilitation purpose. The mechanical design of the exoskeleton focuses on few aspects of the arm exoskeleton which are length and the design of the exoskeleton and motor specification. Besides, the experiment of obtaining surface electromyography (sEMG) signal for repetition training for physiotherapy patient purpose is carried out to observe the difference in amplitude and muscle signal of different subjects (four males and four females) due to the amount of training and the angle of the training. The signals are filtered and the average of the root mean square of the data is compared.Keywords:
SIGNAL (programming language)
Root mean square
Lower limb exoskeleton is a human-machine-electric system that is worn on the outside of the human body and incorporates advanced control, information and communication technologies. It can provide protection, support, and certain auxiliary power for the wearer. In this paper, the mechanical structure of a lower limb exoskeleton is designed and coupled with the human body model for simulation. it verifies the effect of the exoskeleton in reducing human metabolic consumption. First of all, this paper introduces the overall structural design of a lower limb exoskeleton. Secondly, the forward and inverse kinematics of the exoskeleton leg are analyzed, and the working space and Jacobian matrix of the exoskeleton are solved. Finally, the human-machine coupled simulation of the exoskeleton is carried out to analyze the metabolic consumption of the human body under different conditions and verify the power-assisting effect of the exoskeleton on human walking.
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Spectral parameters such as the mean and median frequencies have been documented to be reliable outcome variables for the assessment of muscle fatigue. The objective of this paper is to examine young subjects' surface electromyography (EMG) signals at different levels of maximum voluntary contractions (MVC) and to analyze spectral shifts in mean and median frequencies (MNF, MDF). In this study, continuous stream of EMG data sets from lower extremity muscles are used to characterize muscular fatigue from minimum to maximum MVC level. EMG data were recorded from the biceps brachii muscles during isometric contraction at constant torque levels using automated dynamometer. EMG metrics such as MNF, MDF, root mean square (RMS), and rectified root mean square (RRMS) were computed to assess muscle fatigue patterns.
Root mean square
Muscle Fatigue
Dynamometer
Muscular fatigue
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The past decades marked a significant progress in the development of exoskeletons in research and in industry. The increasing use of exoskeletons in a variety of fields is a testimony to the advancements made by this class of human mobility assistive devices. The following paper provides a review of current development in lower extremity exoskeletons that deliver walking assistance. The paper focuses on exoskeletons that work in parallel with user's legs. The paper categorizes such exoskeletons into two groups: powered and passive exoskeletons. For each category, most common exoskeletons are revealed. For each given example, a detailed description and analysis of the mechanical design, actuation, control scheme and distinguishable features is presented. The paper concludes with a discussion on the challenges and future directions associated with the creation of these mechanical devices.
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Metabolic cost
Powered exoskeleton
Treadmill
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Surface Electromyography (SEMG) plays an important role in the understanding of trunk muscle activity during various postures and movements. The Root Mean Square (RMS) is used to quantify the muscle activation amplitude and was shown to be a valuable parameter in research focusing on the etiology and maintenance of chronic lower back pain.
The aim of the current study was to determine the effect of electrode dislocation on the RMS of the low back muscles.
Root mean square
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Lower-limb exoskeletons are external mechanical structures that support and assist human users during locomotion. The earliest studies on exoskeletons date back to the 1960s, whereas, over the previous decade, research on powered lower-limb exoskeletons has substantially expanded [1]. Exoskeletons with different architectures have been developed to achieve various goals. Typically, lower-limb exoskeletons can be classified into two broad categories based on their intended use: assisting people who have pathological gaits and augmenting able-bodied users. The first type of exoskeleton is designed to aid individuals with neurological conditions, for example, stroke or spinal cord injury (SCI). With the help of an exoskeleton, these people can complete different tasks that they cannot complete without assistance. For example, the bilateral hip-knee exoskeletons ReWalk [2] and Ekso Bionics [3] enforce predefined reference trajectories determined by a finite-state-machine structure to assist individuals with SCI. The bilateral Wandercraft exoskeleton adopts a hybrid dynamicsbased controller to stabilize dynamically feasible periodic gaits for users with SCI, while allowing them to actively control the exoskeleton speed through upper-body posture.
Bionics
Powered exoskeleton
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Although there have been many lower limb robotic exoskeletons that have been tested for human walking, few devices have been tested for assisting running. It is possible that a pseudo-passive elastic exoskeleton could benefit human running without the addition of electrical motors due to the spring-like behavior of the human leg. We developed an elastic lower limb exoskeleton that added stiffness in parallel with the entire lower limb. Six healthy, young subjects ran on a treadmill at 2.3 m/s with and without the exoskeleton. Although the exoskeleton was designed to provide ~50% of normal leg stiffness during running, it only provided 24% of leg stiffness during testing. The difference in added leg stiffness was primarily due to soft tissue compression and harness compliance decreasing exoskeleton displacement during stance. As a result, the exoskeleton only supported about 7% of the peak vertical ground reaction force. There was a significant increase in metabolic cost when running with the exoskeleton compared with running without the exoskeleton (ANOVA, P < .01). We conclude that 2 major roadblocks to designing successful lower limb robotic exoskeletons for human running are human-machine interface compliance and the extra lower limb inertia from the exoskeleton.
Powered exoskeleton
Treadmill
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Powered exoskeleton
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Exoskeleton is a new intelligent wearable robot developed in recent years. Users work with exoskeleton, which can provide assistant support and power as real human bones. In this paper, an integrative joint structure used for lower limb exoskeleton is proposed. By using of this integrative joint, a lower limb exoskeleton structure is designed. In order to judge walking intention of uses, some exoskeleton sensors are designed for the lower limb exoskeleton. This paper sets up electrical system and control system. One lower limb exoskeleton prototype is manufactured. For the purpose of testifying the performance of the lower limb exoskeleton, some experiments have been done.
Powered exoskeleton
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