Non-Biological Signal Based Control System for Exoskeletons

Abstract

In this paper, we present a control system for exoskeletons. Unlike traditional control systems, which primarily rely on sEMG and the analysis of detailed muscle motions, our method of directly measuring the mechanical outcome of muscles proves to be a much easier solution. By employing embedded strain gauges, we are able to measure the intended limb acceleration and provide adequate assistance or augmentation. General equation sets are derived for the analysis of motions and different structures for control are conceived in the research. The effectiveness of the method is tested with an equation simulation from gait.