Solución integrada de control basado en EMG para la rehabilitación de terapias bilaterales en exoesqueleto de rehabilitación de mano Robhand
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Universidad de Valladolid
info
Publisher: Universitat Jaume I ; Servizo de Publicacións ; Universidade da Coruña ; Comité Español de Automática
ISBN: 978-84-9749-804-3
Year of publication: 2021
Pages: 152-159
Congress: Jornadas de Automática (42. 2021. Castellón)
Type: Conference paper
Abstract
Assisted bilateral rehabilitation has been proven to help patients improve their ability of the paretic limb and promote their motor recovery after suffering a cerebrovascular accident (ACV), especially in upper limbs. Robotic-assisted bilateral rehabilitation based on EMG-driven control has been previously addressed in other studies to improve the hand mobility, but there is a lack of low-cost embedded solutions for the real-time bio-cooperative control of the robotic rehabilitation platforms. This paper presents a proprietary, low-cost, real-time EMG integrated solution implemented on the RobHand (Robot for Hand Rehabilitation) platform, an exoskeleton that supports bilateral EMG-based therapies. A threshold non-pattern recognition EMGdriven control for RobHand has been developed, which detects the hand gesture of the healthy hand and replicates it on the exoskeleton placed on the paretic hand.