Generating Human-Like Velocity-Adapted Jumping Gait from sEMG Signals for Bionic Legs Control

W. Yu 1 W. Ma Y. Feng R. Wang K. Madani 2 C. Sabourin 2
2 SYNAPSE
LISSI - Laboratoire Images, Signaux et Systèmes Intelligents
Abstract : In the case of dynamic motion such as jumping, an important fact in sEMG (surface Electromyogram) signal based control on exoskeletons, myoelectric prostheses, and rehabilitation gait is that multichannel sEMG signals contain mass data and vary greatly with time, which makes it difficult to generate compliant gait. Inspired by the fact that muscle synergies leading to dimensionality reduction may simplify motor control and learning, this paper proposes a new approach to generate flexible gait based on muscle synergies extracted from sEMG signal. Two questions were discussed and solved, the first one concerning whether the same set of muscle synergies can explain the different phases of hopping movement with various velocities. The second one is about how to generate self-adapted gait with muscle synergies while alleviating model sensitivity to sEMG transient changes. From the experimental results, the proposed method shows good performance both in accuracy and in robustness for producing velocity-adapted vertical jumping gait. The method discussed in this paper provides a valuable reference for the sEMG-based control of bionic robot leg to generate human-like dynamic gait.
Type de document :
Article dans une revue
Journal of Sensors, Hindawi Publishing Corporation, 2017, 〈10.1155/2017/7360953〉
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-01681971
Contributeur : Lab Lissi <>
Soumis le : jeudi 11 janvier 2018 - 22:38:37
Dernière modification le : vendredi 15 février 2019 - 09:49:27

Lien texte intégral

Identifiants

Collections

Citation

W. Yu, W. Ma, Y. Feng, R. Wang, K. Madani, et al.. Generating Human-Like Velocity-Adapted Jumping Gait from sEMG Signals for Bionic Legs Control. Journal of Sensors, Hindawi Publishing Corporation, 2017, 〈10.1155/2017/7360953〉. 〈hal-01681971〉

Partager

Métriques

Consultations de la notice

71