Control strategy of the lower-limb exoskeleton based on the EMG signals

摘要

Exoskeleton of lower extremity, as a kind of wearable robot, can help people who have walking problems and offer rehabilitation training. In this work, through the analysis of human walking, the mechanical structure of an exoskeleton system was studied. By judging the user's intended movement with the measured pressure of the feet, the exoskeleton system works to assist the user. Then, surface EMG signal, directly reflecting the motion of muscles and joints, was collected during the action of standing up and sitting down on a chair. Finally, a kind of data algorithm was proposed to processing the signal. A control strategy is presented to control the Lower-Limb Exoskeleton based on the EMG signal. Future work will concentrate on developing a more reliable Exoskeleton System involved in EMG signals.