Paper Info
Title
Feasibility of an optimal EMG-driven adaptive impedance control applied to an active knee orthosis.
Abstract
This paper deals with EMG-driven torque estimation and optimal adaptive impedance control during robot-aided rehabilitation. In this preliminary and feasibility study, the proposed framework was evaluated considering an active knee orthosis and only healthy subjects. First, a simplified and optimized musculoskeletal model is used to compute the estimate of user’s torque considering electromyographic (EMG) signals taken from selected muscles acting during flexion and extension movements. The model optimization is performed by comparing the estimated torque from EMG with the torque generated by the inverse dynamics tool of the OpenSim software. As an alternative solution, a multilayer perceptron neural network (NN) is proposed to map the EMG signals to the user’s torque. The proposed approaches are evaluated by a set of healthy subjects wearing the knee orthosis and performing a protocol created for user–robot interaction analysis. Then, an EMG-driven adaptive impedance control is proposed to improve the user participation during the rehabilitation session. The approach is based on an optimal solution which considers the position error and the robot assistance level. The experimental results indicate the use of EMG signals is feasible for adaptive control strategies, taking into account the current condition of the user and optimizing the robot assistance.
Year
DOI
Venue
2019
10.1016/j.robot.2018.11.011
Robotics and Autonomous Systems
Keywords
Field
DocType
Robotics rehabilitation,Impedance control,Adaptive controller,EMG-driven controller
Torque,Knee orthosis,Simulation,Computer science,Position error,Impedance control,Software,Adaptive control,Inverse dynamics,Robot
Journal
Volume
ISSN
Citations 
112
0921-8890
0
PageRank 
References 
Authors
0.34
6
4
Name
Order
Citations
PageRank
Guido Gómez Pena151.30
Leonardo Jose Consoni200.68
Wilian M. dos Santos302.37
Adriano a. g. Siqueira44115.59