EMG-driven models of human-machine interaction in individuals wearing the H2 exoskeleton

Guillaume Durandau, Massimo Sartori, Magdo Bortole, Juan C. Moreno, Jose L Pons, Dario Farina

Research output: Contribution to journalArticle

1 Scopus citations

Abstract

EMG-driven modeling has been mostly used offline and on powerful desktop computers, limiting the application of this technique to neurorehabilitation settings. In this paper, we demonstrate the use of EMG-driven modeling in online (i.e. in real-time) running on a fully portable embedded system and interfaced concurrently with a powered lower limb exoskeleton. This work provides evidence of the feasibility of real-time model-based control of complex multi-joint exoskeleton system, thus opening new avenues for personalised robot-aided rehabilitation interventions.

Original languageEnglish (US)
Pages (from-to)200-203
Number of pages4
JournalIFAC-PapersOnLine
Volume49
Issue number32
DOIs
StatePublished - Jan 1 2016

Keywords

  • EMG
  • Exoskeleton
  • human-machine interface
  • modeling
  • wearable

ASJC Scopus subject areas

  • Control and Systems Engineering

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