Gastrocnemius Myoelectric Control of a Robotic Hip Exoskeleton Can Reduce the User's Lower-Limb Muscle Activities at Push Off

Frontiers in Neuroscience
Lorenzo GraziN Vitiello

Abstract

We present a novel assistive control strategy for a robotic hip exoskeleton for assisting hip flexion/extension, based on a proportional Electromyography (EMG) strategy. The novelty of the proposed controller relies on the use of the Gastrocnemius Medialis (GM) EMG signal instead of a hip flexor muscle, to control the hip flexion torque. This strategy has two main advantages: first, avoiding the placement of the EMG electrodes at the human-robot interface can reduce discomfort issues for the user and motion artifacts of the recorded signals; second, using a powerful signal for control, such as the GM, could improve the reliability of the control system. The control strategy has been tested on eight healthy subjects, walking with the robotic hip exoskeleton on the treadmill. We evaluated the controller performance and the effect of the assistance on muscle activities. The tuning of the assistance timing in the controller was subject dependent and varied across subjects. Two muscles could benefit more from the assistive strategy, namely the Rectus Femoris (directly assisted) and the Tibialis Anterior (indirectly assisted). A significant correlation was found between the timing of the delivered assistance (i.e., synchronism with t...Continue Reading

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Citations

Feb 23, 2020·Journal of Neuroengineering and Rehabilitation·Gregory S SawickiAaron J Young
Jun 29, 2021·Journal of Neuroengineering and Rehabilitation·Ross M NeumanNicholas P Fey
Jul 29, 2021·Journal of Neuroengineering and Rehabilitation·Romain BaudMohamed Bouri

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Datasets Mentioned

BETA
GM

Software Mentioned

SENIAM
LabVIEW
Matlab

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