PROJECT TITLE :

EMG and EPP-Integrated Human–Machine Interface Between the Paralyzed and Rehabilitation Exoskeleton

ABSTRACT :

Though a lower extremity exoskeleton shows great prospect within the rehabilitation of the lower limb, it's not nevertheless been widely applied to the clinical rehabilitation of the paralyzed. This can be partly caused by insufficient info interactions between the paralyzed and existing exoskeleton that cannot meet the requirements of harmonious management. During this research, a bidirectional human–machine interface as well as a neurofuzzy controller and an extended physiological proprioception (EPP) feedback system is developed by imitating the biological closed-loop management system of human body. The neurofuzzy controller is made to decode human motion ahead by the fusion of the fuzzy electromyographic signals reflecting human motion intention and also the precise proprioception providing joint angular feedback data. It transmits control info from human to exoskeleton, whereas the EPP feedback system based mostly on haptic stimuli transmits motion information of the exoskeleton back to the human. Joint angle and torque information are transmitted in the form of air pressure to the human body. The real-time bidirectional human–machine interface will help a patient with lower limb paralysis to manage the exoskeleton together with his/her healthy facet and simultaneously perceive motion on the paralyzed facet by EPP. The interface rebuilds a closed-loop motion management system for paralyzed patients and realizes harmonious control of the human–machine system.