Research on Control System of Wearable Elbow Exoskeleton

Objective: This paper describes a wearable elbow exoskeleton research on the control system, aimed at providing elbow joints of the active, passive rehabilitation training and assisting daily life activities for patients with varying degrees of upper limb hemiplegia in stroke patients with hemiplegia. Method: In this paper, the elbow joint exoskeleton control system integrates two triggering methods, one is by the patient muscle contraction and produce surface EMG signal as a signal source, and then by pattern recognition, trigger control instructions, and then drive the motor to drive elbow external bone Exercise, to achieve the patient's elbow joint active rehabilitation training and daily life activities to help; the other is through the mobile phone of the application program issued a control command to drive the motor control to achieve elbow joint passive training. Among them, in the active rehabilitation training, according to the collection of patients with different surface electromyography arm can be divided into ipsilateral active training (collecting ipsilateral surface EMG) and contralateral active training (collecting contralateral surface EMG), and finally, preliminary test validation. Results: The experimental results show that there is a significant decrease in the false triggering rate after the analysis of the EMG signal, and the accuracy of the identification of the action is improved. The exoskeleton has a training effect on the elbow joint. Conclusions: In this paper, the multi-control method of the mixed elbow external skeletal control system is feasible, not only can help patients to rehabilitation training but also to assist in daily activities.