Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/71238
Título: | EMG-based motion intention recognition for controlling a powered knee orthosis |
Autor(es): | Fernandes, Pedro Nuno Figueiredo, Joana Moreira, Luis Felix, Paulo Correia, Ana Moreno, Juan C. Santos, Cristina |
Palavras-chave: | user-oriented assistive strategy EMG sensors motion intention recognition control strategies assistive orthosis |
Data: | 2019 |
Editora: | IEEE |
Revista: | IEEE International Conference on Autonomous Robot Systems and Competitions ICARSC |
Citação: | P. N. Fernandes et al., "EMG-based Motion Intention Recognition for Controlling a Powered Knee Orthosis," 2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Porto, Portugal, 2019, pp. 1-6, doi: 10.1109/ICARSC.2019.8733628. |
Resumo(s): | Powered assistive devices have been playing a major role in gait rehabilitation. This work aims to develop a user-oriented assistive strategy with an EMG-based control using a powered knee orthosis (PKO) to provide assistive commands according to the user's motion intention tracked by electromyography (EMG) signals. To achieve this goal, the work first comprised the development of a wired EMG acquisition system, the study and implementation of a knee joint torque estimation method, and the development of a real-time controller, which uses the estimated torque as the reference actuator's torque to provide user-oriented assistance in walking. We used a proportional gain method to estimate the knee torque, which required a calibration procedure, allowing to determine the relation between the EMG signal and the actuator's torque. The EMG-based control was validated with two subjects walking in a treadmill. The EMG-based control performed as expected since it proved to be functional and time-effective when assisting the user's movements in walking at different walking speeds. Findings show that the developed assistive strategy can effectively follow the user's motion intention and has the potential for gait rehabilitation of patients with residual muscular strength. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/71238 |
ISBN: | 9781728135588 |
DOI: | 10.1109/ICARSC.2019.8733628 |
ISSN: | 2573-9360 |
Versão da editora: | https://ieeexplore.ieee.org/document/8733628 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | CMEMS - Artigos em livros de atas/Papers in proceedings |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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fernandesetall_ICARSC2019.pdf | 2,15 MB | Adobe PDF | Ver/Abrir |