Structural and Control Strategy of Multi-DOF Lower Limb Exoskeleton Rehabilitation Robot Based on sEMG
A multi-DOF lower-limb exoskeleton rehabilitation robot was designed to realize the rehabilitation training of the lower limbs.The constraint equation of the ankle partial was established,and the numerical method was used to prove that the mechanism has a cor-rect solution.Then the sEMG signals of motions of the feet are extracted by Delsys equip-ment.The data is classified by the three classification algorithms of LDA,RNN combined with LSTM and CNN,a dimensionality reduction CNN method is proposed,the input mo-tion is identified and classified.Finally,a foot action feedback experiment with the sEMG signal as the output command was carried out for the ankle joint part to verify the feasibility and reasonable reliability of the mechanism and control method of this part.
exoskeleton rehabilitation robotsurface electromyographyclassification and i-dentificationmotion control
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NSTL
万方数据
