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Position Sensing and Control with FMG Sensors for Exoskeleton Physical Assistance

  • Muhammad R. U. Islam
  • Kun Xu
  • Shaoping Bai
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)

Abstract

Human intention decoding is a primary requirement to control an exoskeleton. In this work, a new method of decoding human intention by Forcemyography (FMG) is explored to estimate elbow joint angle during arm motion. The method utilizes an FSR-based sensor band to read muscle contraction and relaxation. The readings of the sensor band are mapped to the desired joint angle by using coarse Gaussian support vector machine (SVM) regression algorithm. The estimated joint angle is further used to control an elbow joint exoskeleton. Results show that the new method is able to estimate reliably the joint angle for controlling the exoskeleton.

Notes

Acknowledgment

The reported work is partially supported by EU-AAL Joint Programme through project AXO-SUIT and Innovation Fund Denmark through project EXO-AIDER.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Materials and ProductionAalborg UniversityAalborgDenmark
  2. 2.Robotics InstituteBeihang UniversityBeijingChina

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