Use of surface electromyography for human amplification using an exoskeleton driven by artificial pneumatic muscles

Joao Luiz A.S. Ramos, Marco A. Meggiolaro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
EditorsRaffaella Carloni, Lorenzo Masia, Nicolas Garcia-Aracil, Rui C. V. Loureiro, Roque Saltaren, Herman Van der Kooij, Bram Vanderborght, Loredana Zollo, Sunil Agrawal, Maura Casadio, Adriano A. G. Siqueira, Jose Zariffa, Matteo Bianchi, Domenico Formica, Sasha Blue Godfrey, Leonardo Mattos, Antonio Padilha Lanari Bo, Kevin Cleary, Matteo Fumagalli, Islam S.M. Khalil, Victor Munoz, Hyung-Soon Park, Nikolaos Tsagarakis, Olivier Lambercy, Valentina Squeri, Jose Maria Sabater-Navarro, Marko Ackermann, Arash Ajoudani, Panagiotis Artemiadis, Ashish Deshpande, Luis Eduardo Rodriguez Cheu, Arno H.A. Stienen, Nicola Vitiello
PublisherIEEE Computer Society
Pages585-590
Number of pages6
ISBN (Electronic)9781479931262
StatePublished - Sep 30 2014
Externally publishedYes
Event5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, Brazil
Duration: Aug 12 2014Aug 15 2014

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Conference

Conference5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
CountryBrazil
CitySao Paulo
Period8/12/148/15/14

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Keywords

  • Electromyography
  • Exoskeleton
  • Genetic Algorithms
  • Hill Muscle Model
  • Human Amplification
  • Pneumatic Muscles

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

Cite this

Ramos, J. L. A. S., & Meggiolaro, M. A. (2014). Use of surface electromyography for human amplification using an exoskeleton driven by artificial pneumatic muscles. In R. Carloni, L. Masia, N. Garcia-Aracil, R. C. V. Loureiro, R. Saltaren, H. Van der Kooij, B. Vanderborght, L. Zollo, S. Agrawal, M. Casadio, A. A. G. Siqueira, J. Zariffa, M. Bianchi, D. Formica, S. B. Godfrey, L. Mattos, A. P. Lanari Bo, K. Cleary, M. Fumagalli, I. S. M. Khalil, V. Munoz, H-S. Park, N. Tsagarakis, O. Lambercy, V. Squeri, J. M. Sabater-Navarro, M. Ackermann, A. Ajoudani, P. Artemiadis, A. Deshpande, L. E. Rodriguez Cheu, A. H. A. Stienen, ... N. Vitiello (Eds.), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 (pp. 585-590). [6913841] (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). IEEE Computer Society.