An EMG-based force prediction and control approach for robot-assisted lower limb rehabilitation

摘要

This paper proposes an electromyography (EMG)-based method for online force prediction and control of a lower limb rehabilitation robot. Root mean square (RMS) features of EMG signals from four muscles of the lower limb are used as the inputs to a support vector regression (SVR) model to estimate the human-robot interaction force. The autoregressive algorithm is utilized to construct the relationship between EMG signals and the impact force. Combining the force prediction model with the position-based impedance controller, the robot can be controlled to track the desired force of the lower limb, and so as to achieve an adaptive and active rehabilitation mode, which is adaptable to the individual muscle strength and movement ability. Finally, the method was validated through experiments on a healthy subject. The results show that the EMG-based SVR model can predict the lower limb force accurately and the robot can be controlled to track the estimated force by using simplified impedance model.