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Evaluation of sEMG-triggered Rapid Assistance in Back Support Exoskeleton
U. Heo(허웅),J. Kim(김정) Korean Society for Precision Engineering 2021 한국정밀공학회 학술발표대회 논문집 Vol.2021 No.11월
To prevent lower back pain (LBP) during manual material handling, various powered back support exoskeletons have been developed. However, the large assistive torque and compliance requirements for back support exoskeletons generally lead to actuation latency. In this study, a fast lifting assistance strategy triggered by surface electromyography (sEMG) is proposed to compensate for actuation latency and experimentally verified. For fast and accurate muscle onset detection, the Teager-Kaiser energy operator (TKEO) processing was used and an adaptive threshold algorithm utilizing a finite-state machine was developed. Ten healthy subjects participated in a lifting experiment to validate the proposed assistive strategy. As a result, the instantaneous median frequency (IMDF) reduction rates of back muscle which represents muscle fatigue were significantly decreased as 6.9 and 7.1% for L1 and L5 respectively. Also, the effect of extra latency (0, 150, 300, 450 ms) of detection timing on back muscle effort was investigated and the fast lifting assistance (0 ms) reduced the back muscle activation approximately 5.5% compare to other latency conditions. The proposed assistive strategy prevents LBP by reducing the back muscle fatigue and also can be applied to various assistive exoskeleton applications.