sEMG-based Control Strategy for a Hand Exoskeleton System

Author: Dr. Nicola Secciani

Publisher: Springer International Publishing

Book Series : Springer Theses

Part of: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik"

About this book

This book reports on the design and testing of an sEMG-based control strategy for a fully-wearable low-cost hand exoskeleton. It describes in detail the modifications carried out to the electronics of a previous prototype, covering in turn the implementation of an innovative sEMG classifier for predicting the wearer's motor intention and driving the exoskeleton accordingly. While similar classifier have been widely used for motor intention prediction, their application to wearable device control has been neglected so far. Thus, this book fills a gap in the literature providing readers with extensive information and a source of inspiration for the future design and control of medical and assistive devices.

Frontmatter

Chapter 1. Introduction

Abstract

Driven by the Fourth Industrial Revolution (or Industry 4.0), robots have permeated more and more aspects of human life to such an extent that even a delicate area as the Healthcare System has started consolidating the use of robotic exoskeleton and, in particular, Hand Exoskeleton Systems (HES) to assist people with hand disabilities. This chapter, firstly, discusses the state of the art of HES and, then, lays the foundation for the thesis work by introducing the context, motivations, and structure of the conducted research activity.

Nicola Secciani

Chapter 2. Background: First-Stage Device

Abstract

This chapter gives a detailed description of the HES developed by the MDM Lab of the UNIFI DIEF at the beginning of this thesis work. Since this research activity paralleled the mechanical development of the device, this chapter also gives an overview of the mechanical modifications and improvements the exoskeleton has undergone until today. The main features of such HES will be discussed to clarify its functioning and highlight the aspects on which the control system requirements have been identified.

Nicola Secciani

Chapter 3. The New Control System

Abstract

When it comes to control a HES according to the motor intentions of the user, the technical literature is evident in indicating the use of surface electromyographic (sEMG) signals as the solution to be adopted for a control experience as intuitive and natural as possible. In this chapter, after a brief introduction of the physiology of the sEMG signals and the base principles of the classification theory, reports all the work done towards the implementation of the new control strategy: the changes made to the electronics of the system, the choice of the classification algorithm, and the development of two dedicated Graphical User Interfaces (GUIs).

Nicola Secciani

Chapter 4. Tests and Results

Abstract

The chapter will focus on the actual implementation and the testing of the new control strategy. An overview of the modifications to the old HES electronics, which also involved an onerous mechanical redesign of the device, will be given. The chapter will finally focus on the experimental tests that have been performed in a pilot study and their results.

Nicola Secciani

Chapter 5. Conclusions

Abstract

This chapter concludes the thesis, providing a critical analysis of the achievements and opening up scenarios for possible future developments.

Nicola Secciani

Backmatter

Title: sEMG-based Control Strategy for a Hand Exoskeleton System
Author: Dr. Nicola Secciani
Publisher: Springer International Publishing
Electronic ISBN: 978-3-030-90283-4
Print ISBN: 978-3-030-90282-7
DOI: https://doi.org/10.1007/978-3-030-90283-4

Springer Professional

sEMG-based Control Strategy for a Hand Exoskeleton System

About this book

Table of Contents

Frontmatter

Chapter 1. Introduction

Chapter 2. Background: First-Stage Device

Chapter 3. The New Control System

Chapter 4. Tests and Results

Chapter 5. Conclusions

Backmatter

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