0

Full Content is available to subscribers

Subscribe/Learn More  >

Proportional sEMG Based Robotic Assistance in an Isolated Wrist Movement

[+] Author Affiliations
Edward J. Artz, Amy A. Blank, Marcia K. O’Malley

Rice University, Houston, TX

Paper No. DSCC2015-9979, pp. V002T27A011; 7 pages
doi:10.1115/DSCC2015-9979
From:
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5725-0
  • Copyright © 2015 by ASME

abstract

Numerous studies have demonstrated the efficacy of robots for motor therapy. Surface electromyography (sEMG) is appealing for user intent detection as the signal relates the individual’s desired muscle contractile force. A drawback to sEMG interfaces is subject- and session-dependent calibration. We sought to investigate the effect of a simple sEMG assistive controller on user performance in the MAHI Exo-II, therapeutic exoskeleton. Agonist-antagonist muscles were related after normalization based on sub-maximal isometric contraction. Six subjects performed a target tracking task with four levels of assistance in wrist flexion-extension. Performance metrics were mean absolute position error and estimated muscular activity. In low levels of assistance, subject performance was not significantly affected, while increasing the assistance resulted in higher position errors. In characterizing the performance assistance trade-off, we better understand the capabilities of this simple controller. This investigation validates the feasibility of using a proportional control scheme for a therapeutic wrist exoskeleton system and motivates further testing with impaired subjects to optimize the system for use in a clinical setting.

Copyright © 2015 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In