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DEVELOPEMENT OF
EXOSEKELTON UPPER-LIMP
USING EMG CONTROL
Joselyne Zoila Cano Castillo, Armando Mrquez Das, Khin Rosales
Ayala*, Vctor Torres Padrn
Abstract
Helping people with disabilities to regain control over their limbs, provide increased mobility for the
elderly or augment capabilities of workers performing heavy labor, these are only a few examples where
exoskeleton suits can provide significant benefits for our health and safety. Recently, many robots have
been used in rehabilitation and training tasks. In general, robotic rehabilitation can be categorized into
two styles which are wearable and non-wearable. This paper proposes a mechanism and control method
of a mobile exoskeleton robot for 3DOF upper-limb motion assist (shoulder vertical and horizontal
flexion/extension, and elbow flexion/extension motion assist). The exoskeleton robot is mainly controlled
by the skin surface electromyogram (EMG) signals, since EMG signals of muscles directly reflect how the
user intends to move. The EMG signal is a measure of the electrical activity of the muscle. This raw EMG
signal consists of a series of spikes whose amplitude depends on the amount of force delivered by the
biceps the stronger the contraction of the muscle, the larger the amplitude of the EMG signal. Everything
will be done in theoretical analysis to real life simulations using different programming software. The
objective is to create a real time functional exoskeleton arm that reads your mind, which can be outfitted
for anyone to use.
1. - Introduction
Helping people with disabilities to regain control device was used by the Russian engineer to walk,
over their limbs, provide increased mobility for jump and run in a form similar to suits nowadays.
the elderly or augment capabilities of workers The modern version of todays exoskeletons was
performing heavy labor, these are only a few designed and built in the 1960s by General
examples where exoskeleton suits can provide Electric and the United States Military. The suit
significant benefits for our health and safety. was powered by hydraulic systems and
electricity with a maximum loading weight of
The idea behind exoskeletons can be traced back 110 kg (250 lbs). Named Hardiman2 (figure 1),
to 1890 when Nicholas Yagn1 created the first the exoskeleton had a weight rate of 1 to 11, a
suit of this type, actuating the various user which lifts 11 kg feels the weight of 1 kg.
components with energy stored in gas bags. This
Since then, when exoframes were designed to be and the weight and volume of the
used solely in military applications, the exoskeleton.[2]
technology went through a lot of improvement
so latest projects have a futuristic design, are This paper proposes a mechanism and control
comfortable to wear and can sense even the method of a mobile exoskeleton robot for 3DOF
tiniest body movements. upper-limb motion assist (shoulder vertical and
horizontal flexion/extension, and elbow
flexion/extension motion assist). The
exoskeleton robot is mainly controlled by the
skin surface electromyogram (EMG) signals,
since EMG signals of muscles directly reflect how
the user intends to move.
Analysis and
Design
Calculations
Programming Simulations
Assembly of the
Manufacturing
manufactured
of the design
design