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

G.V. Durandau; Wael Suleiman

doi:10.1109/CRV.2014.46

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

G.V. Durandau, Wael Suleiman

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

4 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 language	English
Title of host publication	2014 Canadian Conference on Computer and Robot Vision (CRV)
Place of Publication	Montreal, QC
Publisher	IEEE
ISBN (Electronic)	978-1-4799-4337-1
ISBN (Print)	978-1-4799-4338-8
DOIs	https://doi.org/10.1109/CRV.2014.46
Publication status	Published - 19 Apr 2014
Externally published	Yes
Event	Computer and Robot Vision - Montreal, Canada Duration: 6 May 2014 → 9 May 2014

Conference

Conference	Computer and Robot Vision
Abbreviated title	CRV
Country/Territory	Canada
City	Montreal
Period	6/05/14 → 9/05/14

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10.1109/CRV.2014.46

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@inproceedings{ed9efc9773a64d39b277735b3ef23132,

title = "Toward a Unified Framework for EMG Signals Processing and Controlling an Exoskeleton",

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.",

author = "G.V. Durandau and Wael Suleiman",

year = "2014",

month = apr,

day = "19",

doi = "10.1109/CRV.2014.46",

language = "English",

isbn = "978-1-4799-4338-8 ",

booktitle = "2014 Canadian Conference on Computer and Robot Vision (CRV)",

publisher = "IEEE",

address = "United States",

note = "Computer and Robot Vision, CRV ; Conference date: 06-05-2014 Through 09-05-2014",

}

TY - GEN

T1 - Toward a Unified Framework for EMG Signals Processing and Controlling an Exoskeleton

AU - Durandau, G.V.

AU - Suleiman, Wael

PY - 2014/4/19

Y1 - 2014/4/19

N2 - 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.

AB - 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.

U2 - 10.1109/CRV.2014.46

DO - 10.1109/CRV.2014.46

M3 - Conference contribution

SN - 978-1-4799-4338-8

BT - 2014 Canadian Conference on Computer and Robot Vision (CRV)

PB - IEEE

CY - Montreal, QC

T2 - Computer and Robot Vision

Y2 - 6 May 2014 through 9 May 2014

ER -

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

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