Title :
Calibration of an EMG-Based Body Model with six Muscles to control a Leg Exoskeleton
Author :
Fleischer, Christian ; Hommel, Günter
Author_Institution :
Inst. of Comput. Eng. & Microelectron., Technische Univ. Berlin
Abstract :
This paper presents a body model of intermediate level of detail to allow prediction of the knee torque produced by thigh muscles based on EMG signals. This torque prediction is used as input for a torque controller that adapts the level of support offered to an operator by a powered leg orthosis. The level of detail of the body model is chosen in such a way, that all parameters of the model can be calibrated for a specific operator with only a few sensors that are mounted on the exoskeleton.
Keywords :
adaptive control; electromyography; medical robotics; orthotics; patient rehabilitation; torque control; EMG signals; EMG-based body model; adaptive controller; knee torque prediction; leg exoskeleton control; leg orthosis; torque controller; Biological system modeling; Calibration; Electromyography; Exoskeletons; Knee; Leg; Muscles; Power system modeling; Predictive models; Torque control;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363843
