TY - GEN
T1 - Personalized Estimation and Modification of Elbow Angular Displacement for Upper Limb Exoskeletons:A Fuzzy Logic-Based Approach
AU - Soman, Sarun
AU - Sangeetha, T. S.
AU - Sivanandan, K. S.
AU - Parameswaran, Arun P.
AU - Baiju, T.
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85179886415&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85179886415&partnerID=8YFLogxK
U2 - 10.1109/DISCOVER58830.2023.10316695
DO - 10.1109/DISCOVER58830.2023.10316695
M3 - Conference contribution
AN - SCOPUS:85179886415
T3 - 2023 IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and Robotics, DISCOVER 2023
SP - 179
EP - 184
BT - 2023 IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and Robotics, DISCOVER 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and Robotics, DISCOVER 2023
Y2 - 13 October 2023 through 14 October 2023
ER -