sEMG-Driven Assistive Control of a Modular Exoskeleton With Double-Tendon-Sheath Variable Stiffness Actuator

IF 3.8 Q2 ENGINEERING, BIOMEDICAL

IEEE transactions on medical robotics and bionics Pub Date : 2025-07-16 DOI:10.1109/TMRB.2025.3589771

Qingcong Wu;Zijie Wang;Songshan Lu;Bai Chen;Hongtao Wu

{"title":"sEMG-Driven Assistive Control of a Modular Exoskeleton With Double-Tendon-Sheath Variable Stiffness Actuator","authors":"Qingcong Wu;Zijie Wang;Songshan Lu;Bai Chen;Hongtao Wu","doi":"10.1109/TMRB.2025.3589771","DOIUrl":null,"url":null,"abstract":"Exoskeletons play a huge role in human body enhancement and physical rehabilitation. In this paper, a new modular exoskeleton driven by double-tendon-sheath variable stiffness actuator (DTS-VSA) is designed to achieve effective human power assistance. The modular and variable stiffness structure of exoskeleton enable the adaptation to different human joint, improving the characteristics of physical human-robot interaction. The DTS-VSA is designed based on the pulley-cable-spring preloading principle and tendon sheath transmission, and its stiffness model is developed through quasi-static force balance analysis. To realize coordinated and active power argumentation, a fuzzy adaptive assistive controller integrated with human joint torque and stiffness estimation is proposed based on surface electromyography. Feasibility is experimentally verified via three typical load-carrying experiments and ten volunteers. The experimental results show that the average assistance efficiencies of elbow motion and knee motion in different experiment conditions are higher than 44.72% and 38.41%.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 3","pages":"1225-1236"},"PeriodicalIF":3.8000,"publicationDate":"2025-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE transactions on medical robotics and bionics","FirstCategoryId":"1085","ListUrlMain":"https://ieeexplore.ieee.org/document/11081949/","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, BIOMEDICAL","Score":null,"Total":0}

引用次数: 0

Abstract

Exoskeletons play a huge role in human body enhancement and physical rehabilitation. In this paper, a new modular exoskeleton driven by double-tendon-sheath variable stiffness actuator (DTS-VSA) is designed to achieve effective human power assistance. The modular and variable stiffness structure of exoskeleton enable the adaptation to different human joint, improving the characteristics of physical human-robot interaction. The DTS-VSA is designed based on the pulley-cable-spring preloading principle and tendon sheath transmission, and its stiffness model is developed through quasi-static force balance analysis. To realize coordinated and active power argumentation, a fuzzy adaptive assistive controller integrated with human joint torque and stiffness estimation is proposed based on surface electromyography. Feasibility is experimentally verified via three typical load-carrying experiments and ten volunteers. The experimental results show that the average assistance efficiencies of elbow motion and knee motion in different experiment conditions are higher than 44.72% and 38.41%.

查看原文本刊更多论文

双肌腱鞘变刚度模块外骨骼的肌电驱动辅助控制

外骨骼在人体增强和身体康复方面发挥着巨大的作用。本文设计了一种由双肌腱鞘变刚度作动器（DTS-VSA）驱动的模块化外骨骼，以实现有效的人力辅助。外骨骼的模块化和变刚度结构使其能够适应不同的人体关节，提高了人机物理交互特性。基于滑轮-索-弹簧预紧原理和腱鞘传动设计了DTS-VSA，并通过准静力平衡分析建立了其刚度模型。为实现协调有功功率参数，提出了一种基于表面肌电图的关节力矩和刚度模糊自适应辅助控制器。通过3个典型负重实验和10名志愿者实验验证了该方法的可行性。实验结果表明，不同实验条件下肘部运动和膝关节运动的平均辅助效率分别高于44.72%和38.41%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

IEEE transactions on medical robotics and bionics

CiteScore

6.80

自引率

0.00%

发文量