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Electromyography Based Joint Angle Estimation and Control of a Robotic Leg
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0002-9399-7801
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0003-0126-1897
Luleå tekniska universitet, Institutionen för hälsovetenskap, Hälsa och rehabilitering.ORCID-id: 0000-0003-3901-0364
Vise andre og tillknytning
Rekke forfattare: 62016 (engelsk)Inngår i: 6th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2016): June 26-29, Singapore, 2016, Piscataway, NJ: IEEE Communications Society, 2016, s. 182-187, artikkel-id 7523619Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Musculoskeletal modeling based on Electromyography (EMG) has many applications in physiotherapy and biologically-inspired robotics. In this article, a novel methodology for the modeling of the dynamics of an antagonistic muscle pair that actuates the human ankle joint movements will be established. As it will be presented, the musculoskeletal model is based on a multi input single output (MISO) auto-regressive integrated moving average with exogenous input (ARIMAX) model, which takes the integrated EMG measurements as input and estimates the corresponding joint angles. Based on this methodology, a Pneumatic Artificial Muscle (PAM) robotic leg setup that mimics the flexion/extension movement of human ankle joint is controlled to replicate the human movement. The experimental results demonstrate the performance of EMG based joint angle estimation and control of the robotic leg with the proposed model.

sted, utgiver, år, opplag, sider
Piscataway, NJ: IEEE Communications Society, 2016. s. 182-187, artikkel-id 7523619
Serie
Proceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, ISSN 2155-1782
HSV kategori
Forskningsprogram
Reglerteknik; Fysioterapi
Identifikatorer
URN: urn:nbn:se:ltu:diva-37878DOI: 10.1109/BIOROB.2016.7523619ISI: 000392266900030Scopus ID: 2-s2.0-84983379589Lokal ID: c0c5b0d8-35b7-412e-8529-e7298dca57f9ISBN: 978-1-4673-8345-5 (digital)OAI: oai:DiVA.org:ltu-37878DiVA, id: diva2:1011376
Konferanse
IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics : 26/06/2016 - 29/06/2016
Tilgjengelig fra: 2016-10-03 Laget: 2016-10-03 Sist oppdatert: 2017-12-18bibliografisk kontrollert

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Mamikoglu, UmutAndrikopoulos, GeorgiosNikolakopoulos, GeorgeRöijezon, UlrikPauelsen, MaschaGustafsson, Thomas

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