Development of an Upper Limb Exoskeleton for Rehabilitation with Feedback from EMG and IMU Sensor

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• 作者：Yogeswaran Ganesan ; Suresh Gobee ; Vickneswary Durairajah
• 关键词：Exoskeleton ; EMG ; IMU ; Rehabilitation
• 刊名：Procedia Computer Science
• 出版年：2015
• 出版时间：2015
• 年：2015
• 卷：76
• 期：Complete
• 页码：53-59
• 全文大小：565 K

文摘

The research project consist of development of an upper limb exoskeleton using rapid prototyping for rehabilitation with feedback from the EMG and IMU sensor. The project is about designing a 3D modelling structure for the system implementation for the rehabilitation mechanism. A control unit circuitry has to be designed in order the implemented system able to be controller and monitored upon the desire motional flow. Besides, the actuator of the rehabilitation system has to imply the motional flow of the good hand during the rehabilitation process takes place. In order to monitor the working mechanism of the entire mechanism, GUI in the state of offline and online has been designed and developed in line with the system implementation. Upon the completion of the system implementation testing of component has been conducted. The accuracy of the IMU sensor can be designated up to 97% and an average of 85% to the theoretical value. Besides, the system's performance also been evaluated at the level best of the function ability which is to be 71%. The GUI interfacing to the online monitoring system has an accuracy of 99.1% of data transfer with 3 second delay upon the connectivity.