An EMG-based exoskeleton robot system that assist the rehabilitation process of upper limb has been proposed in this project. The exoskeleton has four degree of freedom (DOF) capable of various motion such as shoulder flexion/extension, abduction/adduction and internal/external rotation, and elbow flexion/extension. This project report describes the hardware design of the exoskeleton robot and the control method after analysing the work of other researchers. The skin surface electromyography (SEMG) signals of muscles and the joint force/torque of the user are used as the input information for the proposed controller. The robot’s motion can be controlled by both the SEMG signals and force/torque signals. Support vector machine (SVM) has been implemented to estimate user’s intended motion based on the SEMG signals. The proposed control system has only been tested in computer simulation. Thus, further testing and analysis are required before the robot prototype can be built.

Surface Electromyography (SEMG) Based Robotic Assistive Device

Energy is existing everywhere and always being transferred from one state to another, even with the slightest movement of an object or matter. The human body uses potential energy and transfers it into kinetic energy when walking. Harvesting energy from the human locomotion is clean. The aim of this research is to study the biomechanics of a human body during motion and exploit the kinetic and vibrational energies to generate electricity to power a mechanized prosthetic or a battery for storage and later uses. The system uses a vertical spring mass system that will move vertically up and down. This movement will be the drive force to rotate the rotor of the generator or to move the cylindrical rod inside the LVDT sensor thus generating electricity. The spring mass system moves when it is subjected with external force, breaking its equilibrium state. The external force is caused by the displacement of center of mass and the heel strike of the foot when the person is walking. Among the various ways to harvest energy through human locomotion, the limb movement generates most energy compared to body heat and heartbeat methods. Therefore, this research implements the limb movement and electromagnetic induction generator properties/Linear Variable Differential Transformer (LVDT) properties and integrate into a system.

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Surface Electromyography (SEMG) Based Robotic Assistive Device

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