Real-Time Modeling for Lower Limb Exoskeletons
Real-time electromyography (EMG) driven musculoskeletal (NMS) modeling estimates internal body biomechanical parameters and motor intentions. This is central for understanding the dynamics of user-exoskeleton interaction and for developing closed-loop user-exoskeleton interfaces that are intuitive and effective in promoting neuroplasticity. This abstract, presents methods and results behind the interfacing between a six degree of freedom lower limb exoskeleton (H2 exoskeleton, Technaid S.L., Spain) and a real-time EMG-driven NMS model of the human lower extremity.
KeywordsRoot Mean Square Joint Torque Controller Area Network Position Controller Neuromusculoskeletal Modeling
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