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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Long Peng Zeng-Guang Hou Kasabov, N. Jin Hu Liang Peng Wei-Qun Wang |
| Copyright Year | 2015 |
| Description | Author affiliation: Inst. of Autom., Beijing, China (Long Peng; Zeng-Guang Hou; Jin Hu; Liang Peng; Wei-Qun Wang) || Knowledge Eng. & Discovery Res. Inst., Auckland Univ. of Technol., Auckland, New Zealand (Kasabov, N.) |
| Abstract | sEMG (surface electromyography) signals have been used as human-machine interface to control robots or prostheses in recent years. sEMG-based torque estimation is a widely research methodology to obtain human motion intention. Most researches focus on improving the accuracy of sEMG-torque models, which often makes them complicated and confined in the laboratory research. However, an accurate estimation of muscle torque could be unnecessary to perform the robot-assisted rehabilitation training. This paper proposes a practical method to estimate the net muscle torques of lower limbs using sEMG, which can be used to implement a real-time coordinated active training with iLeg-a horizontal exoskeleton for lower limb rehabilitation developed at our laboratory. Two three-layer back propagation (BP) neural networks are built to estimate the net muscle torques at hip and knee joints respectively. Experimental results show that the well-trained neural networks estimate the user's motion intention in real-time, and can assist the user to perform an active training with iLeg. |
| Starting Page | 1 |
| Ending Page | 5 |
| File Size | 1215397 |
| Page Count | 5 |
| File Format | |
| ISSN | 21614407 |
| e-ISBN | 9781479919604 |
| DOI | 10.1109/IJCNN.2015.7280449 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-07-12 |
| Publisher Place | Ireland |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot kinematics Robot sensing systems Torque Dynamics Joints Dairy products |
| Content Type | Text |
| Resource Type | Article |
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