ROBOT-ASSISTED STROKE REHABILITATION: JOINT TORQUE/FORCE CONVERSION FROM EMG USING GA PROCESS

摘要

This project focuses on the development of robot-assisted stroke rehabilitation by implementing electromyography (EMG) as the interface between robot and user communication. The key issue in the implementation of EMG in this application is the conversion of EMG signal into torque data. This article presents a methodology of EMG signal to estimated joint torque conversion by using genetic algorithm (GA). The basic principle of GA, formulation, and implementation to the problem are discussed in this article. Experimentation with real-life EMG data has been carried out to assess the feasibility of the methodology in robot-assisted stroke rehabilitation problem. Preliminary investigations show that the methodology can be used in EMG to joint torque conversion algorithm.