Hybrid Impedance-Admittance Control for Upper Limb Exoskeleton Using Electromyography

Hybrid Impedance-Admittance Control for Upper Limb Exoskeleton Using Electromyography

Exoskeletons are wearable mobile robots that combine various technologies to enable limb movement with greater strength and endurance, being used in several application areas, such as industry and medicine. In this context, this paper presents the development of a hybrid control method for exoskelet...

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Bibliographic Details
Published in:Applied sciences Vol. 10; no. 20; p. 7146
Main Authors: da Silva, Lucas D.L, Pereira, Thiago F, Leithardt, Valderi R.Q, Seman, Laio O, Zeferino, Cesar A
Format: Journal Article
Language:English
Published: Basel MDPI AG 15-10-2020
Subjects:
Arm
Artificial intelligence
Biomechanics
Biomimetics
Control
Control methods
Control systems
Electric properties
Electrical impedance
Electrodes
Electromyography
eletromyography
embedded computing
Exoskeleton
Exoskeletons
Hybrid control
Impedance
Methods
Mimicry
Mobile robots
Muscle function
Muscles
Nervous system
Neural networks
Robot arms
robotic exoskeleton
Robotics
Brazil
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Summary:Exoskeletons are wearable mobile robots that combine various technologies to enable limb movement with greater strength and endurance, being used in several application areas, such as industry and medicine. In this context, this paper presents the development of a hybrid control method for exoskeletons, combining admission and impedance control based on electromyographic input signals. A proof of concept of a robotic arm with two degrees of freedom, mimicking the functions of a human’s upper limb, was built to evaluate the proposed control system. Through tests that measured the discrepancy between the angles of the human joint and the joint of the exoskeleton, it was possible to determine that the system remained within an acceptable error range. The average error is lower than 4.3%, and the robotic arm manages to mimic the movements of the upper limbs of a human in real-time.
ISSN:2076-3417
2076-3417
DOI:10.3390/app10207146