Toward a Unified Framework for EMG Signals Processing and Controlling an Exoskeleton

G.V. Durandau, Wael Suleiman

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

3 Citations (Scopus)
1 Downloads (Pure)

Abstract

In this paper, we present a control method of robotic system using electromyography (EMG) signals collected by surface EMG electrodes. The EMG signals are analyzed using a neuromusculoskeletal (NMS) model that represents at the same time the muscle and the skeleton of the body. It has the advantage of adding external forces to the model without changing the initial parameters which is particularly useful for the control of exoskeletons. The algorithm has been validated through experiments consisting of moving only the elbow joint freely or while handling a barbell having various sets of loads. The results of our algorithm are then compared to the motions obtained by a motion capture system during the same session. The comparison points out the efficiency of our algorithm for predicting and estimating the arm motion using only EMG signals.
Original languageEnglish
Title of host publication2014 Canadian Conference on Computer and Robot Vision (CRV)
Place of PublicationMontreal, QC
PublisherIEEE
ISBN (Electronic)978-1-4799-4337-1
ISBN (Print)978-1-4799-4338-8
DOIs
Publication statusPublished - 19 Apr 2014
Externally publishedYes
EventComputer and Robot Vision - Montreal, Canada
Duration: 6 May 20149 May 2014

Conference

ConferenceComputer and Robot Vision
Abbreviated titleCRV
CountryCanada
CityMontreal
Period6/05/149/05/14

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