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Auswertung von elektromyographischen Signalen zur Steuerung von Exoskeletten

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Informatik - Forschung und Entwicklung

Zusammenfassung

Diese Arbeit stellt ein Modell und ein System zur Steuerung von Exoskeletten mit Hilfe von elektrischen Signalen vor, die an den Muskeln des Benutzers gemessen werden. Anhand dieser Signale wird der eigene Drehmomentbeitrag des Benutzer zur gewünschten Bewegung abgeschätzt, und ein einstellbarer Faktor bestimmt das vom Exoskelett hinzugefügte Drehmoment in Bezug auf den Beitrag des Benutzers. Die Signale werden durch ein komplexes biomechanisches Modell ausgewertet.

Abstract

This paper presents a model and control scheme for actuated exoskeletons by means of electrical signals recorded from muscles of the operator. Those signals are used to estimate the torque contribution of the operator to the desired movement. An adjustable ratio defines the extra torque the exoskeleton should contribute in relation to the torque of the user. The EMG signal evaluation is performed by a sophisticated biomechanical model.

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Authors and Affiliations

  1. Institut für Technische Informatik und Mikroelektronik (Sekr. EN 10), Technische Universität Berlin, Einsteinufer 17, 10587, Berlin, Deutschland

    Christian Fleischer & Armin Zimmermann

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  1. Christian Fleischer
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  2. Armin Zimmermann
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Correspondence to Christian Fleischer.

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CR subject classification

J.3 ; J.7 ; I.6.5

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Fleischer, C., Zimmermann, A. Auswertung von elektromyographischen Signalen zur Steuerung von Exoskeletten . Informatik Forsch. Entw. 22, 173–183 (2008). https://doi.org/10.1007/s00450-008-0042-8

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  • DOI: https://doi.org/10.1007/s00450-008-0042-8

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