Conceptual design of master-slave exoskeleton for motion prediction and control

The conceptual design and proposed control methodology for a master-slave system that consists of an upper limb exoskeleton that acquires motion data to predict the motion of the user to control a robotic arm that mimics the motion of the user is presented. The exoskeleton master-slave unit in its conceptual design is also shown, with proposed electromyography (EMG) signals from sixteen muscles that are related to the seven basic motions of the human arm and accelerometers attached on the exoskeleton to predict motion of the user. The proposed control methodology for the master-slave system consists of four stages: data acquisition, data processing, data analysis and motion controls. This concept is developed to support motion prediction to aid rehabilitation and power assist.