Embedded Control System for a Powered Leg Exoskeleton

摘要

In this paper an embedded control system for a powered orthosis is presented. The orthosis (as shown in Fig. 1) is used to support the thigh muscles during flexion and extension of the knee while performing common motions like getting up from a chair, walking, or climbing stairs. The user interface of the control system is implemented by evaluating EMG signals from significant thigh muscles to find out the intended motion of the subject. The intended motion is executed with a linear actuator to support the subject's own muscle force. Results from two experiments are presented. During the trials the torque support from the actuator illustrates the performance of the system.