Research on Control of an Exoskeletal Ankle with Surface Electromyography Signals

This paper is concerned with a control method of an exoskeletal ankle based on surface electromyographic (sEMG) signals. The sEMG signals of human ankle are introduced first. The muscles which are medial gastrocnemius(MG) and tibialis anterior(TA) are selected by experiments. Then a threshold method of controlling the exoskeletal ankle using sEMG signals is designed. A control system is realized. The sEMG signals are acquired, and sent to the computer. The computer deals with the sEMG signals and generates the control orders. The control orders are passed to the motor controller and drive the exoskeleton to move. At last, through experiment, the control method is verified and the effectiveness of the control system is proved.