Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
7115854 | IFAC-PapersOnLine | 2016 | 4 Pages |
Abstract
EMG-driven modeling has been mostly used offline and on powerful desktop computers, limiting the application of this technique to neurorehabilitation settings. In this paper, we demonstrate the use of EMG-driven modeling in online (i.e. in real-time) running on a fully portable embedded system and interfaced concurrently with a powered lower limb exoskeleton. This work provides evidence of the feasibility of real-time model-based control of complex multi-joint exoskeleton system, thus opening new avenues for personalised robot-aided rehabilitation interventions.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Guillaume Durandau, Massimo Sartori, Magdo Bortole, Juan C. Moreno, José L. Pons, Dario Farina,