Improvement of sEMG Exoskeleton Control Based on Prediction of the Myotendinous System State

-

Abstract

Currently there are active exoskeletons that are controlled by force sensors. They support the wearer's complex movements. Such exoskeletons react to the user's movements with a noticeable and unpleasant delay. However, the muscle activity measured by surface electromyography (sEMG) can be used to create a control scheme with significantly lower delay. Furthermore, better knowledge of the current state of the biological system helps to improve the underlying musculoskeletal models. We have developed new methods in the mechanical and electrical domain of the musculoskeletal models, which will help to improve the movement prediction for exoskeleton control.