Neural Control of an Upper Limb Powered Exoskeleton System

将人类与其自然开发的控制算法和机器人及其施加力和扭矩的扩展能力整合到一个系统中，为患有神经肌肉疾病和神经退行性疾病的健康和残疾人创造新一代援助技术提供了多种机会。外骨骼是一种可穿戴的机械臂。它被人类作为矫形设备佩戴，并充当人体放大器，允许操作员在分担外部负荷的同时自然控制设备，作为其身体的延伸。本研究的主要创新思想之一是将人机接口设置在人体生理层次的肌肉水平，使用人体自身控制命令(表面肌电-表面肌电信号)信号的表达作为外骨骼的主要命令信号之一，以提高操作者和外骨骼之间的协同性。这项研究的目标是设计、建造和实验研究用于人类手臂的由肌肉信号控制的外骨骼(SEMG)与健康人的整合。预计这项研究涉及的科学活动将通过促进来自不同学科的学生和教职员工之间的对话和协作工作来整合和融合多学科知识，以提高肢体残疾社区的生活质量为长期目标。

Integrating humans with their naturally developed control algorithm and robots with their extended capability of applying forces and torques into one system offers multiple opportunities for creating a new generation of assistance technology for both healthy and disabled people suffering from neuromuscular diseases and neuro-degenerative disorders. The exoskeleton is a wearable robotic arm. It is worn by the human as an orthotic device and acts as a human-amplifier allowing the operator natural control of the device as an extension of his/her body while sharing an external load. One of the primary innovative ideas of this research is to set the human machine interface at the muscular level of the human physiological hierarchy using an expression of body's own control command (surface electromyography - sEMG) signals as one of the primary command signals of the exoskeleton for improving the synergy between the operator and the exoskeleton. The goals of this research are to design, build, and experimentally study the integration of a powered exoskeleton controlled by myosignals (sEMG) for the human arm with healthy people. It is anticipated that the scientific activity involved in this research will integrate and fuse multidisciplinary knowledge by promoting dialogues and collaborative work between students and faculty members from different disciplines with a long-term goal of improving the quality of life of the physically disabled community.