A Biofeedback Control System of the Exoskeleton Trainer for Lower Limbs Motor Function Recovery

摘要

The development of robotic systems led to their spread to various spheres of human life. Medical rehabilitation is not an exception. It actively introduces robotic devices into medical practice, replacing traditional manual therapy with procedures using high-tech robotic devices. Robotic exoskeleton for rehabilitation, despite its long history of development, has become a technical innovation that has gained wide popularity in the medical environment in the last decade. Such devices are designed to compensate lower limb disability resulting from the brain or spinal cord injuries and diseases. In this paper, a new approach that uses neuromuscular signals from lower limbs to control the exoskeleton device is proposed. A method for detecting gait phases by the signal of EMG activity has been developed. We believe that control system presented will provide a more natural and effective method to mobilize patient resources and restore motor skills after stroke.