Control method for exoskeleton ankle with surface electromyography signals

作     者：张震 王震 蒋佳芯 钱晋武 ZHANG Zhen,WANG Zhen,JIANG Jia-xin,QIAN Jin-wu School of Mechatronics Engineering and Automation,Shanghai University,Shanghai 200072,P.R.China

作者机构：School of Mechatronics Engineering and Automation Shanghai University 

出 版 物：《Journal of Shanghai University(English Edition)》 (上海大学学报（英文版）)

年 卷 期：2009年第13卷第4期

页      面：270-273页

学科分类：0831[工学-生物医学工程（可授工学、理学、医学学位）] 08[工学] 0836[工学-生物工程] 

基　　金：supported by the National High-Tech R&D Program (Grant No.2006AA04Z224) the Innovation Program of Shanghai Municipal Education Commission (Grant No.08ZZ48) the Shanghai Leading Academic Discipline Project (Grant No.Y0102) 

主　　题：electromyography (EMG) exoskeleton ankle neural network control method 

摘      要：This paper is concerned with a control method for an exoskeleton ankle with electromyography （EMG） signals. The EMG signals of human ankle and the exoskeleton ankle are introduced. Then a control method is proposed to control the exoskeleton ankle using the EMG signals. The feed-forward neural network model applied here is composed of four layers and uses the back-propagation training algorithm. The output signals from neural network are processed by the wavelet transform. Finally the control orders generated from the output signals are passed to the motor controller and drive the exoskeleton to move. Through experiments, the equality of neural network prediction of ankle movement is evaluated by giving the correlation coefficient. It is shown from the experimental results that the proposed method can accurately control the movement of ankle joint.