TY - GEN
T1 - Use of surface electromyography for human amplification using an exoskeleton driven by artificial pneumatic muscles
AU - Ramos, Joao Luiz A.S.
AU - Meggiolaro, Marco A.
PY - 2014/9/30
Y1 - 2014/9/30
N2 - Robotics for rehabilitation and human amplification is imminent to become part of our daily life. The juxtaposition of human control capability and machine mechanical power offers a promising solution for human assistance and force enhancement. This paper presents an alternative and simple exoskeleton Human-Machine Interface (HMI) for human strength and endurance amplification using a modified version of the Hill-type muscle. Pneumatic Artificial Muscles (PAM) are used as actuators for its high power-to-weight ratio. Genetic Algorithms (GA) approach locally optimizes the control model parameters for the assistive device using muscle surface electromyography (sEMG). The proposed methodology offers advantages such as: reducing the number of electrodes needed to monitor the muscles, decreases the real-time processing effort, which is necessary for embedded implementation and portability, and brings the HMI to a neural level.
AB - Robotics for rehabilitation and human amplification is imminent to become part of our daily life. The juxtaposition of human control capability and machine mechanical power offers a promising solution for human assistance and force enhancement. This paper presents an alternative and simple exoskeleton Human-Machine Interface (HMI) for human strength and endurance amplification using a modified version of the Hill-type muscle. Pneumatic Artificial Muscles (PAM) are used as actuators for its high power-to-weight ratio. Genetic Algorithms (GA) approach locally optimizes the control model parameters for the assistive device using muscle surface electromyography (sEMG). The proposed methodology offers advantages such as: reducing the number of electrodes needed to monitor the muscles, decreases the real-time processing effort, which is necessary for embedded implementation and portability, and brings the HMI to a neural level.
KW - Electromyography
KW - Exoskeleton
KW - Genetic Algorithms
KW - Hill Muscle Model
KW - Human Amplification
KW - Pneumatic Muscles
UR - http://www.scopus.com/inward/record.url?scp=84918507464&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84918507464&partnerID=8YFLogxK
U2 - 10.1109/biorob.2014.6913841
DO - 10.1109/biorob.2014.6913841
M3 - Conference contribution
AN - SCOPUS:84918507464
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 585
EP - 590
BT - "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
A2 - Carloni, Raffaella
A2 - Masia, Lorenzo
A2 - Garcia-Aracil, Nicolas
A2 - Loureiro, Rui C. V.
A2 - Saltaren, Roque
A2 - Van der Kooij, Herman
A2 - Vanderborght, Bram
A2 - Zollo, Loredana
A2 - Agrawal, Sunil
A2 - Casadio, Maura
A2 - Siqueira, Adriano A. G.
A2 - Zariffa, Jose
A2 - Bianchi, Matteo
A2 - Formica, Domenico
A2 - Godfrey, Sasha Blue
A2 - Mattos, Leonardo
A2 - Lanari Bo, Antonio Padilha
A2 - Cleary, Kevin
A2 - Fumagalli, Matteo
A2 - Khalil, Islam S.M.
A2 - Munoz, Victor
A2 - Park, Hyung-Soon
A2 - Tsagarakis, Nikolaos
A2 - Lambercy, Olivier
A2 - Squeri, Valentina
A2 - Sabater-Navarro, Jose Maria
A2 - Ackermann, Marko
A2 - Ajoudani, Arash
A2 - Artemiadis, Panagiotis
A2 - Deshpande, Ashish
A2 - Rodriguez Cheu, Luis Eduardo
A2 - Stienen, Arno H.A.
A2 - Vitiello, Nicola
PB - IEEE Computer Society
T2 - 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Y2 - 12 August 2014 through 15 August 2014
ER -