Robotic lower limb exoskeletons using proportional myoelectric control

Area of Science:

• Biomechanics
• Robotics
• Neurorehabilitation

Background:

• Robotic lower limb exoskeletons are developed for performance enhancement, disability assistance, physiological study, and motor retraining.
• Pneumatically-powered lower limb exoskeletons have been specifically developed for motor retraining and physiological study.
• Ankle joint exoskeletons are a focus due to the significant role of plantar flexors in gait mechanics.

Purpose of the Study:

• To investigate the efficacy of pneumatically-powered lower limb exoskeletons.
• To evaluate proportional myoelectric control for enhancing exoskeleton functionality.
• To assess the impact of robotic exoskeletons on healthy individuals and those with incomplete spinal cord injury.

Main Methods:

• Development of pneumatically-powered lower limb exoskeletons.
• Implementation of proportional myoelectric control for exoskeleton operation.
• Testing with healthy human subjects and individuals with incomplete spinal cord injury during gait.

Main Results:

• Healthy subjects demonstrated reduced energy expenditure when walking with robotic ankle exoskeletons.
• Individuals with incomplete spinal cord injury showed rapid adaptation in muscle recruitment patterns.
• Proportional myoelectric control was found to effectively augment wearer strength physiologically.

Conclusions:

• Proportional myoelectric control offers a physiological method for controlling robotic exoskeletons.
• Robotic ankle exoskeletons facilitate adaptation and potentially improve outcomes in rehabilitation.
• This control strategy shows potential advantages for robotic exoskeletons in scientific research and clinical rehabilitation.