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A novel sEMG control-based variable stiffness exoskeleton

机译：一种基于sEMG控制的新型可变刚度外骨骼

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In recent years, surface electromyography (sEMG) signals which are biomedical signals generated by muscles have been utilized to estimate human's muscular torque and predict their intention. In this paper, a variable stiffness exoskeleton which utilizes EMG signals to adjust the stiffness of the output link to meet different environmental requirements and guarantee the wearer's safety has been proposed. There is a stiffness adjustment mechanism located on the forearm part of the exoskeleton. Two dry electrodes which collect sEMG signals from agonist and antagonist muscles pair were attached on the subject's skin of corresponding muscle fibers respectively. The collected sEMG signals could be utilized to adjust the stiffness of output link according to the subject's intention. Combining sEMG signals with variable stiffness actuator (VSA) in the proposed exoskeleton, different outputs of stiffness could be realized in a compact and light hardware system. Experimental results showed the stiffness could be adjusted smoothly according to the Intention-based sEMG control.
机译：近年来，表面肌电图（sEMG）信号是由肌肉产生的生物医学信号，已被用于估计人的肌肉扭矩并预测其意图。在本文中，提出了一种可变刚度外骨骼，该外骨骼利用EMG信号来调节输出连杆的刚度，以满足不同的环境要求并确保佩戴者的安全。外骨骼的前臂部分有一个刚度调节机构。分别从激动剂和拮抗肌对收集两个sEMG信号的干电极分别附着在受试者皮肤上相应的肌纤维上。所收集的sEMG信号可用于根据受试者的意图来调整输出链路的刚度。在建议的外骨骼中将sEMG信号与可变刚度执行器（VSA）结合使用，可以在紧凑轻巧的硬件系统中实现不同的刚度输出。实验结果表明，可以根据基于意图的sEMG控件平滑调整刚度。

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