A 6-DOF Exoskeleton for Head and Neck Motion Assist with Parallel Manipulator and sEMG based Control

被引：0
作者：
Wu, Dongsu [1 ]
Wang, Lin [1 ]
Li, Peng [2 ]
机构：
[1] Nanjing Univ Aeronaut & Astronaut, Coll Civil Aviat, Res Ctr Flight Simulat & Adv Training Engn Techno, Nanjing, Jiangsu, Peoples R China
[2] Nanjing Forestry Univ, Coll Automobile & Traff Engn, Nanjing, Jiangsu, Peoples R China
来源：
2016 INTERNATIONAL CONFERENCE ON CONTROL, DECISION AND INFORMATION TECHNOLOGIES (CODIT) | 2016年
关键词：
exoskeleton; head motion; parallel manipulator; sEMG; feature extraction;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper develops a novel parallel manipulator based exoskeleton for head and neck motion assist. Electromyography signal is used to extract feature and estimated neck force during motion. Then the estimated force is combined with the inverse dynamic controller to construct an interaction controller, which is used to reduce resultant contact force and moment between manipulator and human head. Simulation results show the proposed control scheme can help relieve the head burden and generate extra head motion assist.
引用
收藏
页码：341 / 344
页数：4
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