Muscle force estimation from lower limb EMG signals using novel optimised machine learning techniques
C Mokri, M Bamdad, V Abolghasemi - Medical & biological engineering & …, 2022 - Springer
The main objective of this work is to establish a framework for processing and evaluating the
lower limb electromyography (EMG) signals ready to be fed to a rehabilitation robot. We …
lower limb electromyography (EMG) signals ready to be fed to a rehabilitation robot. We …
Adaptive CPG-based gait planning with learning-based torque estimation and control for exoskeletons
In this letter, a new adaptable gait trajectory shaping method is proposed for lower-limb
exoskeletons by defining central pattern generators (CPGs). These CPGs are synchronized …
exoskeletons by defining central pattern generators (CPGs). These CPGs are synchronized …
Singular perturbation-based adaptive integral sliding mode control for flexible joint robots
The flexible joint robot (FJR) typically experiences parametric variations, nonlinearities,
underactuation, noise propagation, and external disturbances which seriously degrade the …
underactuation, noise propagation, and external disturbances which seriously degrade the …
Proportional joint-moment control for instantaneously adaptive ankle exoskeleton assistance
GM Gasparri, J Luque, ZF Lerner - IEEE Transactions on …, 2019 - ieeexplore.ieee.org
Lower-limb exoskeletons used to improve free-living mobility for individuals with
neuromuscular impairment must be controlled to prescribe assistance that adapts to the …
neuromuscular impairment must be controlled to prescribe assistance that adapts to the …
Toward expedited impedance tuning of a robotic prosthesis for personalized gait assistance by reinforcement learning control
Personalizing medical devices such as lower limb wearable robots is challenging. While the
initial feasibility of automating the process of knee prosthesis control parameter tuning has …
initial feasibility of automating the process of knee prosthesis control parameter tuning has …
Intelligent locomotion planning with enhanced postural stability for lower-limb exoskeletons
In this letter, an integrated control strategy is developed for both locomotion trajectory
planning and postural stability, enabling shared autonomy between the human and lower …
planning and postural stability, enabling shared autonomy between the human and lower …
Convolutional neural networks for environmentally aware locomotion mode recognition of lower-limb amputees
G Khademi, D Simon - Dynamic Systems and …, 2019 - asmedigitalcollection.asme.org
Powered lower-limb prostheses feature a high-level intelligent control system, referred to as
locomotion mode recognition (LMR), which enables seamless amputee-prosthesis …
locomotion mode recognition (LMR), which enables seamless amputee-prosthesis …
A state augmented adaptive backstepping control of wheeled mobile robots
SM Ahmadi, M Behnam Taghadosi… - Transactions of the …, 2021 - journals.sagepub.com
The present paper aims to design an integrated kinematic/dynamic-based tracking controller
for wheeled mobile robots (WMRs) considering motors' dynamics. By defining a reference …
for wheeled mobile robots (WMRs) considering motors' dynamics. By defining a reference …
Intra-subject approach for gait-event prediction by neural network interpretation of EMG signals
Background Machine learning models were satisfactorily implemented for estimating gait
events from surface electromyographic (sEMG) signals during walking. Most of them are …
events from surface electromyographic (sEMG) signals during walking. Most of them are …
Recognition of gait phases with a single knee electrogoniometer: A deep learning approach
F Di Nardo, C Morbidoni, A Cucchiarelli, S Fioretti - Electronics, 2020 - mdpi.com
Artificial neural networks were satisfactorily implemented for assessing gait events from
different walking data. This study aims to propose a novel approach for recognizing gait …
different walking data. This study aims to propose a novel approach for recognizing gait …