Paper Info
Title
Adaptive Model-Based Myoelectric Control for a Soft Wearable Arm Exosuit: A New Generation of Wearable Robot Control
Abstract
Despite advances in mechatronic design, the widespread adoption of wearable robots for supporting human mobility has been hampered by 1) ergonomic limitations in rigid exoskeletal structures and 2) the lack of human-machine interfaces (HMIs) capable of sensing musculoskeletal states and translating them into robot-control commands. We have developed a framework that combines, for the first time, a model-based HMI with a soft wearable arm exosuit that has the potential to address key limitations in current HMIs and wearable robots. The proposed framework was tested on six healthy subjects who performed elbow rotations across different joint velocities and lifting weights. The results showed that the model-controlled exosuit operated synchronously with biological muscle contraction. Remarkably, the exosuit dynamically modulated mechanical assistance across all investigated loads, thereby displaying adaptive behavior.
Year
DOI
Venue
2020
10.1109/MRA.2019.2955669
IEEE Robotics & Automation Magazine
Keywords
DocType
Volume
Torque,Electromyography,Elbow,Muscles,Wearable robots
Journal
27
Issue
ISSN
Citations 
1
1070-9932
5
PageRank 
References 
Authors
0.50
0
7
Name
Order
Citations
PageRank
Nicola Lotti150.50
Michele Xiloyannis2295.94
Guillaume Durandau350.50
Elisa Galofaro450.50
Vittorio Sanguineti56812.86
Lorenzo Masia6259.52
Massimo Sartori76714.77