With an aging population, facilitation of an independent lifestyle for the elderly and those with neuromuscular conditions is a prominent field of research. Different robotic prototypes have been proposed in order to aid patients and seniors regain their autonomy by augmenting forces exerted by the device wearer. Some of these prototypes are controlled in force by processing surface electromyography (SEMG) signals acquired from wearer’s muscles. However, the accuracy of the estimated force may deteriorate with passage of time and alteration of limb configurations. SEMG and isometric torque data are recorded from eleven healthy volunteers to (1) compare the accuracy of six torque estimation models and (2) demonstrate estimation accuracy preservation under arm varying configurations. The research focuses on wrist extension/flexion in order to simplify the performed analysis.
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Thesis advisor: Menon, Carlo
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