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Motion identification based on sEMG for flexible pneumatic hand rehabilitator

Guanjun Bao (Key Laboratory of E&M, Zhejiang University of Technology, Ministry of Education & Zhejiang Province, Hangzhou, China)
Kun Li (Key Laboratory of E&M, Zhejiang University of Technology, Ministry of Education & Zhejiang Province, Hangzhou, China)
Sheng Xu (Zhejiang Business Technology Institute, Ningbo, China)
Pengcheng Huang (Jinhua Polytechnic, Jinhua, China)
Luan Wu (Key Laboratory of E&M, Zhejiang University of Technology, Ministry of Education & Zhejiang Province, Hangzhou, China)
Qinghua Yang (Key Laboratory of E&M, Zhejiang University of Technology, Ministry of Education & Zhejiang Province, Hangzhou, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 19 January 2015

Abstract

Purpose

This paper aims to avoid the precise modeling and controlling problems of rigid structures of hand recovery device, by proposing a hand rehabilitator based on flexible pneumatic actuator with its safety and adaptability.

Design/methodology/approach

The hand rehabilitator is designed based on a flexible pneumatic bending joint. The recovery training program for an injured finger is developed via forearm sEMG (surface electromyogram) sampling, analysis, classification and motion consciousness identification. Four typical movement models of the index finger and middle finger were defined and the corresponding sEMG signals were sampled. After simulation and comparative analysis, autoregressive (AR) model back propagation (BP) network was selected for sEMG analysis and hand recovery planning because of its best recognition performance. A verification test was designed and the results showed that the soft hand rehabilitator and recovery conception are feasible.

Findings

AR model BP network can identify the index finger and middle finger movement intention via an sEMG analysis. The developed flexible pneumatic hand rehabilitator is safe and suitable for finger recovering therapy.

Research limitations/implications

Because of the limitation of experimental samples, the prototype rehabilitator of this work may lack generalizability for other situations. Therefore, for further study and application, systematic structure revising, experiments, data and training are necessary to improve the performance.

Practical implications

The paper includes implications for the development and application of a new style, safe and dexterous hand rehabilitator.

Originality/value

The paper tries a new approach to design a safe, flexible and easily controlled hand rehabilitator.

Keywords

Acknowledgements

This work is financially supported by the National Natural Science Foundation of China (grant no. 51405441) and Natural Science Foundation of Ningbo China (grant no. 2013A610154).

Citation

Bao, G., Li, K., Xu, S., Huang, P., Wu, L. and Yang, Q. (2015), "Motion identification based on sEMG for flexible pneumatic hand rehabilitator", Industrial Robot, Vol. 42 No. 1, pp. 25-35. https://doi.org/10.1108/IR-08-2014-0376

Publisher

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Emerald Group Publishing Limited

Copyright © 2015, Emerald Group Publishing Limited