Personalized Estimation and Modification of Elbow Angular Displacement for Upper Limb Exoskeletons:A Fuzzy Logic-Based Approach

Sarun Soman*, T. S. Sangeetha, K. S. Sivanandan, Arun P. Parameswaran, T. Baiju

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This study introduces an innovative method for estimating and modifying elbow angular displacement using surface electromyography (sEMG) signals, with the goal of achieving transparency between the wearer and upper limb exoskeleton robots while enhancing human mobility. The approach presented in this research offers a personalized control system that is driven by the user's preferences. The control system incorporates a fuzzy logic-based approach, which dynamically adjusts the estimated elbow angle based on the user's desired interaction with the rehabilitation device. Three distinct fuzzy systems are developed: a) one for estimating the joint angle trajectory, b) another for estimating the user's preferences, and c) a third system to control the angular displacement of the actuator. To evaluate the performance of the control strategy, an experimental setup is designed and tested using surface electromyography (sEMG) signal and external user input.

Original languageEnglish
Title of host publication2023 IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and Robotics, DISCOVER 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages179-184
Number of pages6
ISBN (Electronic)9798350340129
DOIs
Publication statusPublished - 2023
Event2023 IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and Robotics, DISCOVER 2023 - Mangalore, India
Duration: 13-10-202314-10-2023

Publication series

Name2023 IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and Robotics, DISCOVER 2023

Conference

Conference2023 IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and Robotics, DISCOVER 2023
Country/TerritoryIndia
CityMangalore
Period13-10-2314-10-23

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Electrical and Electronic Engineering
  • Control and Optimization

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