SEMG-Based Single-Joint Active Training with iLeg—A Horizontal Exoskeleton for Lower Limb Rehabilitation

Abstract

In this paper, surface electromyography (sEMG) from muscles of the lower limb is acquired and processed to estimate the single-joint voluntary motion intention, based on which, two single-joint active training strategies are proposed with iLeg, a horizontal exoskeleton for lower limb rehabilitation newly developed at our laboratory. In damping active training, the joint angular velocity is proportionally controlled by the voluntary effort derived from sEMG, performing as an ideal damper, while spring active training aims to create a spring-like environment where the joint angular displacement from the constant reference is proportionally controlled by the voluntary effort. Experiments are conducted with iLeg and one healthy male subject to validate the feasibility of the two single-joint active training strategies.