Human adaptive mechatronics system integrated with cybernetics loop using neuromuscular controller in occupational therapy for elderly person with disability

摘要

Human adaptive mechatronics (HAM) device is operated using neuromuscular interface controller. The muscle activity is monitored with the help of electromyogram (EMG) signals. The change in signal strength due to the volunteering movement of body parts is detected by placing few electrodes on the skin surface. EMG signal is used as the control signal and it gives the movement coordination. The amplitude of the signal changes with respect to the muscle activity. The HAM device is made to operate depending upon the amplitude changes in the generated EMG signal. The option of using cybernetic loop facilitates the balance of the control error and the delayed response time of the system. This paper elaborates the working of human adaptive neuromuscular interface controller in mechatronics device and the simulation is carried out in real time approach for the different muscle activity mainly between the two actions: volunteer motion and intended motion.