Power assist method for HAL-3 using EMG-based feedback controller

By Hiroaki Kawamoto, Suwoong Lee, S. Kanbe, Yoshiyuki Sankai. SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483), 2003

410 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Rehabilitation

View Paper: https://www.semanticscholar.org/paper/606b34547b0edc5b4fba669d1a027961ee517cdd

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In Biomedical Engineering

In Rehabilitation

Citations in the corpus

A biologically inspired soft exosuit for walking assistance (2015, background): “These include exoskeletons that aim to help people walk while expending less energy (Kawamoto et al., 2003; Pratt et al., 2004; Ferris and Lewis, 2009; Sawicki and Ferris, 2009a,b; Strausser and Kazerooni, 2011), and those that assist with heavy lifting (Yamamoto et al., 2003; Wehner et al., 2009).”
Lower Limb Wearable Robots for Assistance and Rehabilitation: A State of the Art (2016, methodology): “Two types of signals are usually used: the skin surface EMG [41], [59]–[61] and the electroencephalogram (EEG) [62], [63].”
Control strategies for active lower extremity prosthetics and orthotics: a review (2015, positive): “Surface EMG has been demonstrated for this purpose in transfemoral prostheses [61,120,130,132,149,150], virtual above- and below-knee prostheses [151], a hip and knee orthosis [152], knee orthoses [60,153,154], a transtibial prosthesis [66] and an ankle-foot orthosis [155].”
Wearable soft sensing suit for human gait measurement (2014, background): “We have seen an evolution from rigid exoskeletons with rigid actuators (Yagn, 1890; Makinson, 1971; Kawamoto et al., 2003; Pratt et al., 2004; Guizzo and Goldstein, 2005; Kazerooni and Steger, 2006; Walsh et al., 2007) to rigid exoskeletons with soft pneumatic actuators (Yamamoto et al.”
State of the Art and Future Directions for Lower Limb Robotic Exoskeletons (2017, background): “The only exoskeletons on the market today to incorporate this type of technology are HAL and Myomo [84] which both use surface EMG electrodes.”
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art (2008, methodology): “MIT exoskeleton during metabolic testing [35], HAL-5 exoskeleton [41], nurse-assisting exoskeleton [43], and the RoboKnee [44] on the exoskeleton shin and a potentiometer on the knee joint.”