Abstract
We present an online decoding method for controlling a powered lower-limb exoskeleton using endogenously generated electroencephalogram (EEG) signals of human users. By performing a series of binary classifications, users control the exoskeleton in three directions: walk front, turn left and turn right. During the first classification phase, the user’s intention to either walk front or change direction is detected. If the user’s intention to change direction is detected, a subsequent classification for turning left or right is performed. Five subjects were able to successfully complete the 3-way navigation task while mounted in the exoskeleton. We report the improved accuracy of our cascaded protocol over a baseline method.
This work was supported by the Swiss National Centers of Competence in Research (NCCR) Robotics project.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bogue, R.: Robotic exoskeletons: a review of recent progress. Ind. Robot Int. J. 42(1), 5–10 (2015)
Millán, J.D.R., et al.: Combining brain–computer interfaces and assistive technologies: state-of-the-art and challenges. Front. Neurosci. 4, 161 (2010)
Kwak, N.S., Müller, K.R., Lee, S.W.: A lower limb exoskeleton control system based on steady state visual evoked potentials. J. Neural Eng. 12(5), 056009 (2015)
Müller-Putz, G.R., Scherer, R., Pfurtscheller, G., Rupp, R.: EEG-based neuroprosthesis control: a step towards clinical practice. Neurosci. Lett. 382(1), 169–174 (2005)
Contreras-Vidal, J.L., Grossman, R.G.: NeuroRex: a clinical neural interface roadmap for EEG-based brain machine interfaces to a lower body robotic exoskeleton. In: EMBC, 2013, pp. 1579–1582 (2013)
Pfurtscheller, G., Neuper, C.: Motor imagery and direct brain-computer communication. Proc. IEEE 89(7), 1123–1134 (2001)
Banala, S.K., Kim, S.H., Agrawal, S.K., Scholz, J.P.: Robot assisted gait training with active leg exoskeleton (ALEX). IEEE TNSRE 17(1), 2–8 (2009)
Bortole, M., Venkatakrishnan, A., Zhu, F., Moreno, J.C., Francisco, G.E., Pons, J.L., Contreras-Vidal, J.L.: The H2 robotic exoskeleton for gait rehabilitation after stroke: early findings from a clinical study. J. NeuroEng. Rehab. 12(1), 1 (2015)
Quintero, H.A., Farris, R.J., Goldfarb, M.: Control and implementation of a powered lower limb orthosis to aid walking in paraplegic individuals. In: ICORR, 2011, pp. 1–6 (2011)
Percival, D.B., Walden, A.T.: Spectral Analysis for Physical Applications. Cambridge University Press, Cambridge (1993)
Carlson, T., Millan, J.D.R.: Brain-controlled wheelchairs: a robotic architecture. IEEE Robot. Autom. Mag. 20, 65–73 (2013)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Lee, K., Liu, D., Perroud, L., Chavarriaga, R., Millán, J.d.R. (2017). Endogenous Control of Powered Lower-Limb Exoskeleton. In: González-Vargas, J., Ibáñez, J., Contreras-Vidal, J., van der Kooij, H., Pons, J. (eds) Wearable Robotics: Challenges and Trends. Biosystems & Biorobotics, vol 16. Springer, Cham. https://doi.org/10.1007/978-3-319-46532-6_19
Download citation
DOI: https://doi.org/10.1007/978-3-319-46532-6_19
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-46531-9
Online ISBN: 978-3-319-46532-6
eBook Packages: EngineeringEngineering (R0)