Biosignal-based Control of a Robotic Gait Training Lifter

Area of Science:

• Robotics
• Biomedical Engineering
• Rehabilitation Technology

Background:

• Traditional gait training can be passive, limiting patient engagement.
• Biosignal-based control offers potential for more intuitive human-robot interaction in rehabilitation.

Purpose of the Study:

• To develop and evaluate a robotic walker with intention-based control using Electromyography (EMG) signals.
• To enable synchronized movement between the patient and the robotic walker for enhanced gait training.

Main Methods:

• Proposed two Electromyography (EMG) signal-based control methods for a robotic gait training lifter (GTL): speed control and acceleration control.
• Implemented these control strategies in a robotic walker prototype.
• Conducted feasibility experiments with human participants.

Main Results:

• Demonstrated synchronization between human and walker velocity during the walking phase using both EMG-based controllers.
• Validated the feasibility of intention-based control for robotic gait assistance.

Conclusions:

• The developed robotic walker effectively translates user intention via EMG signals into synchronized movement.
• This technology has the potential to increase patient engagement in rehabilitation and can be integrated with robotic exoskeletons.