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A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton

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dc.affiliation.dptoUC3M. Departamento de IngenierĂ­a de Sistemas y AutomĂ¡ticaes
dc.affiliation.grupoinvUC3M. Grupo de InvestigaciĂ³n: Laboratorio de RobĂ³tica (Robotics Lab)es
dc.contributor.authorCopaci, Dorin Sabin
dc.contributor.authorSerrano del Cerro, David
dc.contributor.authorMoreno Lorente, Luis Enrique
dc.contributor.authorBlanco Rojas, MarĂ­a Dolores
dc.date.accessioned2019-02-08T11:16:37Z
dc.date.available2019-02-08T11:16:37Z
dc.date.issued2018-08-02
dc.description.abstractA high-level control algorithm capable of generating position and torque references from surface electromyography signals (sEMG) was designed. It was applied to a shape memory alloy (SMA)-actuated exoskeleton used in active rehabilitation therapies for elbow joints. The sEMG signals are filtered and normalized according to data collected online during the first seconds of a therapy session. The control algorithm uses the sEMG signals to promote active participation of patients during the therapy session. In order to generate the reference position pattern with good precision, the sEMG normalized signal is compared with a pressure sensor signal to detect the intention of each movement. The algorithm was tested in simulations and with healthy people for control of an elbow exoskeleton in flexion&-extension movements. The results indicate that sEMG signals from elbow muscles, in combination with pressure sensors that measure arm&-exoskeleton interaction, can be used as inputs for the control algorithm, which adapts the reference for exoskeleton movements according to a patient's intention.en
dc.description.sponsorshipThe research was funded by RoboHealth (DPI2013-47944-C4-3-R) and the EDAM (DPI2016-75346-R) Spanish research projects.en
dc.format.extent20
dc.format.mimetypeapplication/pdf
dc.identifier.bibliographicCitationCopaci, D., Serrano, D., Moreno, L., Blanco, D. (2018). A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton. Sensors, 18 (8), 2522.en
dc.identifier.doihttps://doi.org/10.3390/s18082522
dc.identifier.issn1424-8220
dc.identifier.publicationissue8
dc.identifier.publicationtitleSensorsen
dc.identifier.publicationvolume18
dc.identifier.urihttps://hdl.handle.net/10016/28027
dc.identifier.uxxiAR/0000022455
dc.language.isoengen
dc.publisherMDPIen
dc.relation.projectIDGobierno de España. DPI2013-47944-C4-3-Res
dc.relation.projectIDGobierno de España. DPI2016-75346-Res
dc.rights© 2018 by the authors. Licensee MDPI, Basel, Switzerland.en
dc.rightsAtribuciĂ³n-NoComercial-SinDerivadas 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/*
dc.subject.ecienciaRobĂ³tica e InformĂ¡tica Industriales
dc.subject.otherExoskeletonsen
dc.subject.otherElectromyographic (EMG)en
dc.subject.otherControl systemsen
dc.titleA High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeletonen
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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