Robotics: Science and Systems IX

Real-Time EMG Driven Lower Limb Actuated Orthosis for Assistance As Needed Movement Strategy

Walid Hassani, Samer Mohammed, Yacine Amirat

Abstract:

This paper presents a new approach to control a wearable knee joint exoskeleton driven through the wearer’s intention. A realistic bio-inspired musculoskeletal knee joint model is used to control the exoskeleton. This model takes into account changes in muscle length and joint moment arms as well as the dynamics of muscle activation and muscle contraction during lower limb movements. Identification of the model parameters is done through an unconstrained optimization problem formulation. A control law strategy based on the principle of assistance as needed is proposed. This approach guarantees asymptotic stability of the knee joint orthosis and adaptation to human-orthosis interaction. Moreover, the proposed control law is robust with respect to external disturbances. Experimental validations are conducted online on a healthy subject during flexion and extenion of their knee joint. The proposed control strategy has shown satisfactory performances in terms of tracking trajectory and adaptation to human tasks completion.

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Bibtex:

  
@INPROCEEDINGS{Hassani-RSS-13, 
    AUTHOR    = {Walid Hassani AND Samer Mohammed AND Yacine Amirat}, 
    TITLE     = {Real-Time EMG Driven Lower Limb Actuated Orthosis for Assistance As Needed Movement Strategy}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2013}, 
    ADDRESS   = {Berlin, Germany}, 
    MONTH     = {June},
    DOI       = {10.15607/RSS.2013.IX.054} 
}