Myoelectric Control System of Lower Limb Exoskeleton for Re-training Motion Deficiencies

Abstract

Technical progress in robotics has led to its expansion into different spheres of human life. Rehabilitation medicine has become one of those areas, actively adopting robotic principles and achievements. Over the last decade the progress in this area is inseparably linked with the development of robotic devices - exoskeletons designed to compensate lower limb disability arising as a result of brain or spinal cord injuries and diseases. In this paper, we propose a new control approach for robotic exoskeleton which integrates muscle bioelectric signals of the patient in the control loop. We believe that the proposed approach activates biofeedback mechanisms, which in turn intensify the rehabilitation process.