PMID- 32746072
OWN - NLM
STAT- MEDLINE
DCOM- 20210625
LR  - 20210625
IS  - 1558-2531 (Electronic)
IS  - 0018-9294 (Linking)
VI  - 68
IP  - 2
DP  - 2021 Feb
TI  - Voluntary Control of an Ankle Joint Exoskeleton by Able-Bodied Individuals and 
      Stroke Survivors Using EMG-Based Admittance Control Scheme.
PG  - 695-705
LID - 10.1109/TBME.2020.3012296 [doi]
AB  - Control schemes based on electromyography (EMG) have demonstrated their 
      superiority in human-robot cooperation due to the fact that motion intention can 
      be well estimated by EMG signals. However, there are several limitations due to 
      the noisy nature of EMG signals and the inaccuracy of EMG-force/torque 
      estimation, which might deteriorate the stability of human-robot cooperation 
      movement. To improve the movement stability, an EMG-based admittance control 
      scheme (EACS) was proposed, comprised of an EMG-driven musculoskeletal model 
      (EDMM), an admittance filter and an inner position controller. To investigate the 
      performance of EACS, a series of sinusoidal tracking tasks were conducted with 12 
      healthy participants and 4 stroke survivors in an ankle exoskeleton in comparison 
      with the EMG-based open-loop control scheme (EOCS). The experimental results 
      indicated that both EACS and EOCS could improve stroke survivors' ankle range of 
      motion (ROM). The experimental results of both healthy participants and stroke 
      survivors showed that the assistance torque, tracking error and jerk values of 
      EACS were lower than those of EOCS. The interaction torque of EACS decreased 
      towards the increasing assistance ratio while that of EOCS increased. Moreover, 
      the EMG levels of tibialis anterior (TA) decreased towards the increasing 
      assistance ratio but were higher than those of EOCS. EACS was effective in 
      improving movements stability, and had the potential to be applied in 
      robot-assisted rehabilitation training to address the foot-drop problem.
FAU - Zhuang, Yu
AU  - Zhuang Y
FAU - Leng, Yan
AU  - Leng Y
FAU - Zhou, Jie
AU  - Zhou J
FAU - Song, Rong
AU  - Song R
FAU - Li, Le
AU  - Li L
FAU - Su, Steven W
AU  - Su SW
LA  - eng
PT  - Journal Article
PT  - Research Support, Non-U.S. Gov't
DEP - 20210120
PL  - United States
TA  - IEEE Trans Biomed Eng
JT  - IEEE transactions on bio-medical engineering
JID - 0012737
SB  - IM
MH  - Ankle Joint
MH  - Electromyography
MH  - *Exoskeleton Device
MH  - Humans
MH  - *Stroke
MH  - *Stroke Rehabilitation
MH  - Survivors
EDAT- 2020/08/04 06:00
MHDA- 2021/06/29 06:00
CRDT- 2020/08/04 06:00
PHST- 2020/08/04 06:00 [pubmed]
PHST- 2021/06/29 06:00 [medline]
PHST- 2020/08/04 06:00 [entrez]
AID - 10.1109/TBME.2020.3012296 [doi]
PST - ppublish
SO  - IEEE Trans Biomed Eng. 2021 Feb;68(2):695-705. doi: 10.1109/TBME.2020.3012296. 
      Epub 2021 Jan 20.