Control method for exoskeleton ankle with surface electromyography signals |
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| Authors: | Zhen Zhang Zhen Wang Jia-xin Jiang Jin-wu Qian |
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| Institution: | School of Mechatronics Engineering and Automation,Shanghai University,Shanghai 200072,P.R.China |
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| Abstract: | This paper is concerned with a control method for an exoskeleton ankle with electromyography (EMG) signals. The EMG signals
of human ankle and the exoskeleton ankle are introduced. Then a control method is proposed to control the exoskeleton ankle
using the EMG signals. The feed-forward neural network model applied here is composed of four layers and uses the back-propagation
training algorithm. The output signals from neural network are processed by the wavelet transform. Finally the control orders
generated from the output signals are passed to the motor controller and drive the exoskeleton to move. Through experiments,
the equality of neural network prediction of ankle movement is evaluated by giving the correlation coefficient. It is shown
from the experimental results that the proposed method can accurately control the movement of ankle joint.
Project supported by the National High-Tech R&D Program (Grant No.2006AA04Z224), the Innovation Program of Shanghai Municipal
Education Commission (Grant No.08ZZ48), and the Shanghai Leading Academic Discipline Project (Grant No.Y0102) |
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| Keywords: | electromyography (EMG) exoskeleton ankle neural network control method |
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