A Control Framework of Lower Extremity Rehabilitation Exoskeleton Based on Neuro-Muscular-Skeletal Model

A control system framework of lower extremity rehabilitation exoskeleton robot is presented. It is based on the Neuro-Musculo-Skeletal biological model. Its core composition moudle, the motion intent parser part, mainly comprises of three distinct parts.The first part is signal acquisition of surface electromyography (sEMG) that is the summation of motor unit action potential (MUAP) starting from central nervous system (CNS). sEMG can be used to decode action intent of operator to make the patient actively participate in specific training. As another composition part, a muscle dynamics model that is comprised of activation and contraction dynamic model is developed. It is mainly used to calculate muscle force. The last part is the skeletal dynamic model that is simplified as a linked segment mechanics. Combined with muscle dynamic model, the joint torque exerted by internal muscles can be exported, which can be ued to do a exoskeleton controller design. The developed control framework can make exoskeleton offer assistance to operators during rehabilitation by guiding motions on correct training rehabilitation trajectories, or give force support to be able to perform certain motions. Though the presentation is orientated towards the lower extremity exoskeleton, itis generic and can be applied to almost any part of the human body.