Effect of velocity and acceleration in joint angle estimation for an EMG-Based upper-limb exoskeleton control

This paper proposes a new method to improve accuracy and real-time performance of inertial joint angle estimation for upper limb rehabilitation applications by modeling body acceleration and adding low-cost markerless optical position sensors. A method based on a combination of the 3D rigid body kinematic equations and Denavit-Hartenberg (DH) convention is used to model body acceleration. Using this model, body acceleration measurements of the accelerometer are utilized to increase linearization order and compensate for body acceleration perturbations. To correct for the sensor-to-segment misalignment of the inertial sensors, position measurements of a low-cost markerless position sensor are used. Joint angles are estimated by Extended Kalman Filter (EKF) and compared with Unscented Kalman Filter (UKF) in terms of performance. Simulations are performed to quantify the existing error and potential improvements achievable by the proposed method. Experiments on a human test subject performing an upper limb rehabilitation task is used to validate the simulation results in realistic conditions.

Download Full-text

Upper Limb Elbow Joint Angle Estimation Based on Electromyography Using Artificial Neural Network

2018 12th South East Asian Technical University Consortium (SEATUC) ◽

10.1109/seatuc.2018.8788877 ◽

2018 ◽

Author(s):

Triwiyanto ◽

Oyas Wahyunggoro ◽

Hanung Adi Nugroho ◽

Herianto

Keyword(s):

Neural Network ◽

Artificial Neural Network ◽

Upper Limb ◽

Elbow Joint ◽

Joint Angle ◽

Angle Estimation ◽

Artificial Neural

Download Full-text

Joint Angle Estimation of Upper Limb based on Evolutionary Multi-criterion Optimization using 3D Image Sensor

Transactions of the Institute of Systems Control and Information Engineers ◽

10.5687/iscie.29.114 ◽

2016 ◽

Vol 29 (3) ◽

pp. 114-121

Author(s):

Takenori Obo ◽

Junya Kusaka ◽

Naoyuki Kubota

Keyword(s):

Upper Limb ◽

Joint Angle ◽

Image Sensor ◽

3D Image ◽

Angle Estimation

Download Full-text

Novel Adaptive Reaching Law for Sliding Mode Control of an Upper Limb Exoskeleton Robot*

2020 IEEE Region 10 Symposium (TENSYMP) ◽

10.1109/tensymp50017.2020.9230719 ◽

2020 ◽

Author(s):

Brahim Brahmi ◽

Khaled El-Monajjed ◽

Mohammad Habibur Rahman ◽

Tanvir Ahmed ◽

Claude El-Bayeh ◽

...

Keyword(s):

Sliding Mode Control ◽

Upper Limb ◽

Sliding Mode ◽

Reaching Law ◽

Mode Control ◽

Upper Limb Exoskeleton ◽

Exoskeleton Robot

Download Full-text

A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

Applied Sciences ◽

10.3390/app11135865 ◽

2021 ◽

Vol 11 (13) ◽

pp. 5865

Author(s):

Muhammad Ahsan Gull ◽

Mikkel Thoegersen ◽

Stefan Hein Bengtson ◽

Mostafa Mohammadi ◽

Lotte N. S. Andreasen Struijk ◽

...

Keyword(s):

Upper Limb ◽

Tracking Control ◽

Degrees Of Freedom ◽

Control Method ◽

Mechanical Design ◽

Trajectory Tracking Control ◽

Upper Limb Exoskeleton ◽

And Performance ◽

Physically Disabled People ◽

Human Upper Limb

Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

Download Full-text

A Novel Inverse Kinematics Method for Upper-Limb Exoskeleton under Joint Coordination Constraints

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ◽

10.1109/iros45743.2020.9341686 ◽

2020 ◽

Author(s):

Stefano Dalla Gasperina ◽

Keya Ghonasgi ◽

Ana C. de Oliveira ◽

Marta Gandolla ◽

Alessandra Pedrocchi ◽

...

Keyword(s):

Upper Limb ◽

Inverse Kinematics ◽

Joint Coordination ◽

Upper Limb Exoskeleton

Download Full-text

Sensor Reduction, Estimation, and Control of an Upper-Limb Exoskeleton

IEEE Robotics and Automation Letters ◽

10.1109/lra.2021.3056366 ◽

2021 ◽

pp. 1-1

Author(s):

Jianwei Sun ◽

Yang Shen ◽

Jacob Rosen

Keyword(s):

Upper Limb ◽

Upper Limb Exoskeleton ◽

Estimation And Control ◽

Sensor Reduction ◽

And Control

Download Full-text

Kinematic of the Position and Orientation Synchronization of the Posture of a n DoF Upper-Limb Exoskeleton with a Virtual Object in an Immersive Virtual Reality Environment

Electronics ◽

10.3390/electronics10091069 ◽

2021 ◽

Vol 10 (9) ◽

pp. 1069

Author(s):

Deyby Huamanchahua ◽

Adriana Vargas-Martinez ◽

Ricardo Ramirez-Mendoza

Keyword(s):

Virtual Reality ◽

Upper Limb ◽

Human Performance ◽

Early Stage ◽

Inverse Kinematic ◽

Virtual Object ◽

Immersive Virtual Reality ◽

Virtual Reality Environment ◽

Upper Limb Exoskeleton ◽

Position And Orientation

Exoskeletons are an external structural mechanism with joints and links that work in tandem with the user, which increases, reinforces, or restores human performance. Virtual Reality can be used to produce environments, in which the intensity of practice and feedback on performance can be manipulated to provide tailored motor training. Will it be possible to combine both technologies and have them synchronized to reach better performance? This paper consists of the kinematics analysis for the position and orientation synchronization between an n DoF upper-limb exoskeleton pose and a projected object in an immersive virtual reality environment using a VR headset. To achieve this goal, the exoskeletal mechanism is analyzed using Euler angles and the Pieper technique to obtain the equations that lead to its orientation, forward, and inverse kinematic models. This paper extends the author’s previous work by using an early stage upper-limb exoskeleton prototype for the synchronization process.

Download Full-text