Study of the Control Mechanism of Robot-Prosthesis Based-on the EMG Processed

Abstract

This paper proposes a new-type prosthesis model and control mechanism, represents an ongoing investigation of voluntary and natural control of lower limb prosthesis using the myoelectric signals. First of all, myoelectric signals, which are sampled from the lower limb during the subjects walked normally on the three kinds terrains, such as flat, slop and stair, are extracted the motion features with Wavelet packet decomposition. And then these features are sent into LVQ neural network to classify. In the end sending the new signals into the network, the high identification ratio was obtained. The greatest characteristic of the Robot-Prosthesis is that it can be controled at will, when the active control should offered corresponding parameter to the execution part for different terrain.