EMG and EPP-integrated human-machine interface between the paralyzed and rehabilitation exoskeleton

Area of Science:

• Rehabilitation Engineering
• Neuroprosthetics
• Human-Machine Interfaces

Background:

• Lower extremity exoskeletons offer potential for paralyzed patient rehabilitation.
• Current exoskeletons lack sufficient human-information interaction for harmonious control.
• Paralyzed individuals require intuitive control and sensory feedback for effective exoskeleton use.

Purpose of the Study:

• To develop a bidirectional human-machine interface for lower limb exoskeleton control in paralyzed patients.
• To enhance harmonious control by creating a closed-loop system mimicking biological feedback.
• To enable patients to control exoskeletons using their healthy side and perceive motion on the paralyzed side.

Main Methods:

• Developed a neurofuzzy controller integrating electromyographic signals and joint angular feedback.
• Implemented an extended physiological proprioception (EPP) feedback system using haptic stimuli (air pressure).
• Modeled the system on the biological closed-loop control system.

Main Results:

• The neurofuzzy controller decodes human motion intention and provides joint feedback.
• The EPP system transmits exoskeleton motion information (joint angle, torque) via air pressure.
• The bidirectional interface facilitates real-time control and sensory perception for paralyzed users.

Conclusions:

• The developed interface enables paralyzed patients to control exoskeletons with their healthy side.
• The system allows perception of movement on the paralyzed side through EPP.
• This innovation establishes a closed-loop control system for improved exoskeleton-assisted rehabilitation and harmonious human-machine interaction.