Electromyography Assessment of Forearm Muscles: Towards the Control of Exoskeleton Hand

摘要

Hand plays an important role in a human's life by offering physical interaction and grasping capabilities. In most stroke cases, the hand is the most vulnerable part of the body that has a high chance of suffering. This has led to the development of a numerous wearable robotic devices such as exoskeleton hands. The exoskeleton hands can provide physical assistance for stroke survivors to regain their abilities in performing basic activities of daily living and to improve their quality of life. The key challenges in developing such a device do not only lie in designing its mechanical but also in designing its controller. In controlling the exoskeleton hand, the principal criterion is to work according to the user's motion intention. It can be done by utilizing the electromyogram (EMG) signals generated by forearm muscles contributed from the movement and/or grasping abilities of the hand. In this paper, electromyography assessment of forearm muscles towards the control of an exoskeleton hand is presented. The EMG signals are collected non-invasively using multi-channel surface EMG sensors. The contractions of the muscles are detected from several forearm (flexion and extensor) muscles and the data is processed through several pattern recognition steps, before being mapped to various pinching/gripping forces and angular joints. The adaptability and learning process is done through a neural network. The experimental results show separable classes of features and significant range of control inputs that represent the inter-relation between forearm EMG signals, various pinching/gripping forces and angular joints for exoskeleton hand control.