Proportional Control of a Soft Cable-Driven Exoskeleton via a Myoelectrical Interface Enables Force-Controlled Finger Motions

Walter J, Roßmanith P, Souza de Oliveira D, Reitelshofer S, Del Vecchio A, Franke J (2022)

Publication Type: Conference contribution

Publication year: 2022

Original Authors: Jonas Walter, Paul Rosmanith, Daniela Souza De Oliveira, Sebastian Reitelshofer, Alessandro Del Vecchio, Jorg Franke

Series: IEEE

City/Town: Seoul

Conference Proceedings Title: International Conference on Biomedical Robotics and Biomechatronics (BioRob)

Event location: Seoul KR

DOI: 10.1109/BioRob52689.2022.9925334

Abstract

We report new electromyography (EMG) and finger motion data that address the question of whether a proportional EMG control of a soft cable-driven exoskeleton enables force-controlled finger motions. To investigate this question, we conducted experiments with a self-built state- of-the-art cable-driven exoskeleton for a single finger and a healthy subject. The finger exoskeleton weighed only 44 g and was built from low-cost materials (ultra-high-molecular- weight polyethylene cord, DC motors, 3D-printed components). The goal of this study was to show whether the subject can remotely control a finger of their left hand (slave), to which the exoskeleton is attached, with a finger of their right hand (master) based on the EMG activity of the forearm muscles. The results show that the proportional EMG control enables force-controlled motions of the slave finger, while it was ensured that the healthy subject did not manipulate the data. Moreover, the data show that this type of control allows a modulation of the fingertip forces.

Authors with CRIS profile

Jonas Walter Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik Daniela Souza de Oliveira Department Artificial Intelligence in Biomedical Engineering Alessandro Del Vecchio Juniorprofessur für Neuromuscular Physiology and Neural Interfacing Jörg Franke Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik

How to cite

APA:

Walter, J., Roßmanith, P., Souza de Oliveira, D., Reitelshofer, S., Del Vecchio, A., & Franke, J. (2022). Proportional Control of a Soft Cable-Driven Exoskeleton via a Myoelectrical Interface Enables Force-Controlled Finger Motions. In International Conference on Biomedical Robotics and Biomechatronics (BioRob). Seoul, KR: Seoul.

MLA:

Walter, Jonas, et al. "Proportional Control of a Soft Cable-Driven Exoskeleton via a Myoelectrical Interface Enables Force-Controlled Finger Motions." Proceedings of the IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Seoul Seoul, 2022.

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