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2020 | OriginalPaper | Chapter

EMG-Based Kinematic Impedance Control of a Lower-Limb Exoskeleton

Authors : Lourdes Luna, Itzel García, Marco Mendoza, Guadalupe Dorantes-Méndez, Aldo Mejía-Rodríguez, Isela Bonilla

Published in: VIII Latin American Conference on Biomedical Engineering and XLII National Conference on Biomedical Engineering

Publisher: Springer International Publishing

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Abstract

This paper presents the control of a lower-limb exoskeleton in real time, to assist a pathological gait, taking into account only electromyography (EMG) events and a characteristic angular pattern of a normal gait. The algorithm consists of an impedance control scheme that uses EMG signals to modify the characteristic angular pattern of a normal gait. EMG signals were characterized using the simple square integral (SSI) index and this information was used to identify a characteristic EMG pattern in the semitendinosus and gastrocnemius muscles. Finally, a series of experimental tests were conducted with a volunteer to validate the adequate performance of the system.

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Title: EMG-Based Kinematic Impedance Control of a Lower-Limb Exoskeleton
Authors: Lourdes Luna
Itzel García
Marco Mendoza
Guadalupe Dorantes-Méndez
Aldo Mejía-Rodríguez
Isela Bonilla
Publisher: Springer International Publishing
Book: VIII Latin American Conference on Biomedical Engineering and XLII National Conference on Biomedical Engineering
Print ISBN: 978-3-030-30647-2

Electronic ISBN: 978-3-030-30648-9

Copyright Year: 2020
DOI: https://doi.org/10.1007/978-3-030-30648-9_192