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Robot technology is increasingly widely applied in medical field for rehabilitation, especially for the paralysis of stroke patients. In this paper, a new design concept of upper limb rehabilitation robot has been developed. The model is expected to perform three degrees of freedom that is rotation in horizontal and vertical planes. This system is of advantages in terms of light weight, dexterity...
In this paper, we have developed a motion capture method based on data collected by MYO armband. The method can be applied on any healthy operator wearing two MYO armbands on both upper and lower arms, respectively. The first MYO armband is worn near the centre of the operator's upper arm, the other is worn near the centre of the forearm. MYO armband has built-in eight bioelectrical sensors as well...
The paper presents iterative learning control of an exoskeleton for human upper limbs to provide forearm movement assistance, which enables a human forearm to track any continuous desired trajectory (or constant setpoint), in the presence of parametric/functional uncertainties, unmodelled dynamics including actuator dynamics, and/or disturbances from the environment. Given desired trajectories of...
The objective of this paper is to estimate the joint angle and the force from a moving elbow joint based on the SEMG. An AdaBoost with SVM-based compoment classifier is proposed to discriminate different movements based on SEMG of the forearm. Then, the average integral EMG(AIEMG) variables collecting by an EMG measurement device is introduced to estimating joint angles. Through the estimated joint...
This paper investigates two surface electromyogram (sEMG)-based control strategies developed for a power-assist exoskeleton arm. Different from most of the existing position control approaches, this paper develops force control methods to make the exoskeleton robot behave like humans in order to provide better assistance. The exoskeleton robot is directly attached to a user’s body and activated by...
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