Design and Implementation of an Intention-based Control System for a Lower Limb Exoskeleton by Combining Biological, Kinematic and Interaction Force Signals, M.Sc. Thesis Sharif University of Technology ; Vosoughi, Gholamreza (Supervisor)
Abstract
The goal of this project is to propose an algorithm to detect human motion intent during level walking. The primary aim of this algorithm should be to reduce human-robot interaction forces by combining EMG and force signals. Human gait is composed of 6 different stages. During each stage, each muscle is activated differently so it is possible to detect human intent by a pattern recognition technique. However, due to the fact that EMG signals are unrepeatable and noisy, we propose that combining EMG, motion and interaction force signals may lead to more concise and repeatable estimates of human motion intent. As a result, this control approach is expected to reduce human robot interaction...
Cataloging briefDesign and Implementation of an Intention-based Control System for a Lower Limb Exoskeleton by Combining Biological, Kinematic and Interaction Force Signals, M.Sc. Thesis Sharif University of Technology ; Vosoughi, Gholamreza (Supervisor)
Abstract
The goal of this project is to propose an algorithm to detect human motion intent during level walking. The primary aim of this algorithm should be to reduce human-robot interaction forces by combining EMG and force signals. Human gait is composed of 6 different stages. During each stage, each muscle is activated differently so it is possible to detect human intent by a pattern recognition technique. However, due to the fact that EMG signals are unrepeatable and noisy, we propose that combining EMG, motion and interaction force signals may lead to more concise and repeatable estimates of human motion intent. As a result, this control approach is expected to reduce human robot interaction...
Find in contentBookmark |
|