Closed-loop electromyography controller for augmented hand exoskeleton gripping

This interdisciplinary team focused on the development of an active exoskeleton for augmented hand gripping. An exoskeleton finger was modeled in computer-aided design software and printed with a three-dimensional printer. Forearm flexor and extensor muscle surface electromyography signals were used...

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Bibliographic Details
Main Authors: Nagasako, J. M., Fenwick, C. M., Kennedy, I. L., Marion, K. R., Zizzi, M. G., Riofrio, J. A., Mallory, J. A., Magotra, N., Northrup, S. G., Ulrey, B. L.
Format: Conference Proceeding
Language:English
Subjects:
Electromyography
Exoskeletons
Frequency control
Joints
MIMICs
Sensors
Tendons
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Summary:This interdisciplinary team focused on the development of an active exoskeleton for augmented hand gripping. An exoskeleton finger was modeled in computer-aided design software and printed with a three-dimensional printer. Forearm flexor and extensor muscle surface electromyography signals were used as input to a microcomputer controller. Flexion and extension of the exoskeleton was accomplished by an electromechanical servo and wire system. The system was controlled by a custom-written control algorithm that included position and pressure feedback. The exoskeleton successfully flexes and extends on a test apparatus with less than 150 ms delay.
ISSN:2160-6986
2160-7028
DOI:10.1109/NEBEC.2015.7117233