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摘要
Recognizing the movement intention of a human is a challenging task to ensure a secure and intuitive interaction with a robotic device. In this work, two sensing principles are compared to measure the interaction of a user with an upper limb exoskeleton. A torque sensor is structurally integrated into the kinematic chain of an assistive upper limb exoskeleton to measure the overall joint torque. The user interaction torque is obtained with a dynamic model, considering gravity, inertia and friction of the exoskeleton. The measured torque is compared to EMG signals of the involved shoulder muscles to match the resulting joint torque to the electrical activation of the muscles. Experiments show a delay between the two signals of maximal 80 ms and linear correlation between torque and EMG.
- 出版日期2018-7
