EMG-driven models of human-machine interaction in individuals wearing the H2 exoskeleton

Guillaume Durandau; Massimo Sartori; Magdo Bortole; Juan C. Moreno; José L. Pons; Dario Farina

doi:10.1016/j.ifacol.2016.12.214

EMG-driven models of human-machine interaction in individuals wearing the H2 exoskeleton

Guillaume Durandau, Massimo Sartori, Magdo Bortole, Juan C. Moreno, José L. Pons, Dario Farina

Research output: Contribution to journal › Article › Academic › peer-review

8 Citations (Scopus)

31 Downloads (Pure)

Abstract

EMG-driven modeling has been mostly used offline and on powerful desktop computers, limiting the application of this technique to neurorehabilitation settings. In this paper, we demonstrate the use of EMG-driven modeling in online (i.e. in real-time) running on a fully portable embedded system and interfaced concurrently with a powered lower limb exoskeleton. This work provides evidence of the feasibility of real-time model-based control of complex multi-joint exoskeleton system, thus opening new avenues for personalised robot-aided rehabilitation interventions.

Original language	English
Pages (from-to)	200-203
Number of pages	4
Journal	IFAC-papersonline
Volume	49
Issue number	32
DOIs	https://doi.org/10.1016/j.ifacol.2016.12.214
Publication status	Published - 2016
Externally published	Yes

Keywords

EMG
Exoskeleton
human-machine interface
modeling
wearable

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10.1016/j.ifacol.2016.12.214Licence: CC BY-NC-ND

Durandau2016emg-drivenFinal published version, 787 KBLicence: CC BY-NC-ND

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AU - Sartori, Massimo

AU - Bortole, Magdo

AU - Moreno, Juan C.

AU - Pons, José L.

AU - Farina, Dario

PY - 2016

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AB - EMG-driven modeling has been mostly used offline and on powerful desktop computers, limiting the application of this technique to neurorehabilitation settings. In this paper, we demonstrate the use of EMG-driven modeling in online (i.e. in real-time) running on a fully portable embedded system and interfaced concurrently with a powered lower limb exoskeleton. This work provides evidence of the feasibility of real-time model-based control of complex multi-joint exoskeleton system, thus opening new avenues for personalised robot-aided rehabilitation interventions.

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KW - Exoskeleton

KW - human-machine interface

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ER -

EMG-driven models of human-machine interaction in individuals wearing the H2 exoskeleton

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Keywords

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