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Electromyography Based Joint Angle Estimation and Control of a Robotic Leg
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Health Sciences, Health and Rehab.
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Number of Authors: 6
2016 (English)In: 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, 182-187 p., 7523619Conference paper (Refereed)
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.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2016. 182-187 p., 7523619
Series
, Proceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, ISSN 2155-1782
National Category
Control Engineering Physiotherapy
Research subject
Control Engineering; Physiotherapy
Identifiers
URN: urn:nbn:se:ltu:diva-37878DOI: 10.1109/BIOROB.2016.7523619ScopusID: 2-s2.0-84983379589Local ID: c0c5b0d8-35b7-412e-8529-e7298dca57f9ISBN: 978-1-4673-8345-5 (PDF)OAI: oai:DiVA.org:ltu-37878DiVA: diva2:1011376
Conference
IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics : 26/06/2016 - 29/06/2016
Note

Godkänd; 2016; 20160513 (umumam)

Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2016-10-19Bibliographically approved

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