Development of an EMG-Controlled Knee Exoskeleton to Assist Home Rehabilitation in a Game Context

As a leading cause of loss of functional movement, stroke often makes it difficult for patients to walk. Interventions to aid motor recovery in stroke patients should be carried out as a matter of urgency. However, muscle activity in the knee is usually too weak to generate overt movements, which po...

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Main Authors: Mingxing Lyu, Wei-Hai Chen, Xilun Ding, Jianhua Wang, Zhongcai Pei, Baochang Zhang
Format: Article
Language:English
Published: Frontiers Media S.A. 2019-08-01
Series:Frontiers in Neurorobotics
Subjects:
Online Access:https://www.frontiersin.org/article/10.3389/fnbot.2019.00067/full
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spelling doaj-9c6e1afaeabd49c69e825a2ec469a3732020-11-25T00:40:52ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182019-08-011310.3389/fnbot.2019.00067447246Development of an EMG-Controlled Knee Exoskeleton to Assist Home Rehabilitation in a Game ContextMingxing Lyu0Mingxing Lyu1Wei-Hai Chen2Xilun Ding3Jianhua Wang4Zhongcai Pei5Baochang Zhang6School of Automation Science and Electrical Engineering, Beihang University, Beijing, ChinaDepartment of Health Sciences and Technology, ETH Zurich, Zurich, SwitzerlandCollege of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing, ChinaAs a leading cause of loss of functional movement, stroke often makes it difficult for patients to walk. Interventions to aid motor recovery in stroke patients should be carried out as a matter of urgency. However, muscle activity in the knee is usually too weak to generate overt movements, which poses a challenge for early post-stroke rehabilitation training. Although electromyography (EMG)-controlled exoskeletons have the potential to solve this problem, most existing robotic devices in rehabilitation centers are expensive, technologically complex, and allow only low training intensity. To address these problems, we have developed an EMG-controlled knee exoskeleton for use at home to assist stroke patients in their rehabilitation. EMG signals of the subject are acquired by an easy-to-don EMG sensor and then processed by a Kalman filter to control the exoskeleton autonomously. A newly-designed game is introduced to improve rehabilitation by encouraging patients' involvement in the training process. Six healthy subjects took part in an initial test of this new training tool. The test showed that subjects could use their EMG signals to control the exoskeleton to assist them in playing the game. Subjects found the rehabilitation process interesting, and they improved their control performance through 20-block training, with game scores increasing from 41.3 ± 15.19 to 78.5 ± 25.2. The setup process was simplified compared to traditional studies and took only 72 s according to test on one healthy subject. The time lag of EMG signal processing, which is an important aspect for real-time control, was significantly reduced to about 64 ms by employing a Kalman filter, while the delay caused by the exoskeleton was about 110 ms. This easy-to-use rehabilitation tool has a greatly simplified training process and allows patients to undergo rehabilitation in a home environment without the need for a therapist to be present. It has the potential to improve the intensity of rehabilitation and the outcomes for stroke patients in the initial phase of rehabilitation.https://www.frontiersin.org/article/10.3389/fnbot.2019.00067/fullelectromyography (EMG)game contexthome rehabilitationhuman-computer interactionKalman filterknee exoskeleton
collection DOAJ
language English
format Article
sources DOAJ
author Mingxing Lyu
Mingxing Lyu
Wei-Hai Chen
Xilun Ding
Jianhua Wang
Zhongcai Pei
Baochang Zhang
spellingShingle Mingxing Lyu
Mingxing Lyu
Wei-Hai Chen
Xilun Ding
Jianhua Wang
Zhongcai Pei
Baochang Zhang
Development of an EMG-Controlled Knee Exoskeleton to Assist Home Rehabilitation in a Game Context
Frontiers in Neurorobotics
electromyography (EMG)
game context
home rehabilitation
human-computer interaction
Kalman filter
knee exoskeleton
author_facet Mingxing Lyu
Mingxing Lyu
Wei-Hai Chen
Xilun Ding
Jianhua Wang
Zhongcai Pei
Baochang Zhang
author_sort Mingxing Lyu
title Development of an EMG-Controlled Knee Exoskeleton to Assist Home Rehabilitation in a Game Context
title_short Development of an EMG-Controlled Knee Exoskeleton to Assist Home Rehabilitation in a Game Context
title_full Development of an EMG-Controlled Knee Exoskeleton to Assist Home Rehabilitation in a Game Context
title_fullStr Development of an EMG-Controlled Knee Exoskeleton to Assist Home Rehabilitation in a Game Context
title_full_unstemmed Development of an EMG-Controlled Knee Exoskeleton to Assist Home Rehabilitation in a Game Context
title_sort development of an emg-controlled knee exoskeleton to assist home rehabilitation in a game context
publisher Frontiers Media S.A.
series Frontiers in Neurorobotics
issn 1662-5218
publishDate 2019-08-01
description As a leading cause of loss of functional movement, stroke often makes it difficult for patients to walk. Interventions to aid motor recovery in stroke patients should be carried out as a matter of urgency. However, muscle activity in the knee is usually too weak to generate overt movements, which poses a challenge for early post-stroke rehabilitation training. Although electromyography (EMG)-controlled exoskeletons have the potential to solve this problem, most existing robotic devices in rehabilitation centers are expensive, technologically complex, and allow only low training intensity. To address these problems, we have developed an EMG-controlled knee exoskeleton for use at home to assist stroke patients in their rehabilitation. EMG signals of the subject are acquired by an easy-to-don EMG sensor and then processed by a Kalman filter to control the exoskeleton autonomously. A newly-designed game is introduced to improve rehabilitation by encouraging patients' involvement in the training process. Six healthy subjects took part in an initial test of this new training tool. The test showed that subjects could use their EMG signals to control the exoskeleton to assist them in playing the game. Subjects found the rehabilitation process interesting, and they improved their control performance through 20-block training, with game scores increasing from 41.3 ± 15.19 to 78.5 ± 25.2. The setup process was simplified compared to traditional studies and took only 72 s according to test on one healthy subject. The time lag of EMG signal processing, which is an important aspect for real-time control, was significantly reduced to about 64 ms by employing a Kalman filter, while the delay caused by the exoskeleton was about 110 ms. This easy-to-use rehabilitation tool has a greatly simplified training process and allows patients to undergo rehabilitation in a home environment without the need for a therapist to be present. It has the potential to improve the intensity of rehabilitation and the outcomes for stroke patients in the initial phase of rehabilitation.
topic electromyography (EMG)
game context
home rehabilitation
human-computer interaction
Kalman filter
knee exoskeleton
url https://www.frontiersin.org/article/10.3389/fnbot.2019.00067/full
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