title: Application of EMG signals for controlling exoskeleton robots.
abstract: Exoskeleton robots are mechanical constructions attached to human body parts, containing actuators for influencing human motion. One important application area for exoskeletons is human motion support, for example, for disabled people, including rehabilitation training, and for force enhancement in healthy subjects. This paper surveys two exoskeleton systems developed in our laboratory. The first system is a lower-extremity exoskeleton with one actuated degree of freedom in the knee joint. This system was designed for motion support in disabled people. The second system is an exoskeleton for a human hand with 16 actuated joints, four for each finger. This hand exoskeleton will be used in rehabilitation training after hand surgeries. The application of EMG signals for motion control is presented. An overview of the design and control methods, and first experimental results for the leg exoskeleton are reported.
authors.affiliation: Technical University of Berlin, Institute for Computer Engineering and Microelectronics, Berlin, Germany. fleischer@cs.tu-berlin.de
authors.forename: Christian
authors.initials: C
authors.lastname: Fleischer
authors.forename: Andreas
authors.initials: A
authors.lastname: Wege
authors.forename: Konstantin
authors.initials: K
authors.lastname: Kondak
authors.forename: Günter
authors.initials: G
authors.lastname: Hommel
mesh_terms: D000465:Algorithms; D001701:Bionics / Q000295:instrumentation / Q000379:methods*; D003936:Diagnosis, Computer-Assisted / Q000295:instrumentation / Q000379:methods; D004576:Electromyography / Q000295:instrumentation / Q000379:methods*; D005246:Feedback; D006801:Humans; D008328:Man-Machine Systems; D009069:Movement Disorders / Q000534:rehabilitation*; D009989:Orthotic Devices; D012371:Robotics / Q000295:instrumentation / Q000379:methods*; D013813:Therapy, Computer-Assisted / Q000295:instrumentation / Q000379:methods*