A Quantifiable Muscle Fatigue Method Based on sEMG during Dynamic Contractions for Lower Limb Exoskeleton

摘要

Advanced interactive methods between users and lower-limb exoskeletons are gradually drawing attention. Muscle fatigue is regarded as a significant contributory factor in muscle injuries and low work efficiency which is harmful to human-robot interactions. The detection and quantification of muscle fatigue during dynamic contractions remain as a challenging research. In this research, we introduce a novel method called Wavelet Packet Energy Entropy (WPEE) to quantify the muscle fatigue based on sEMG during dynamic contractions. Fatigue experiments and exoskeleton experiments are executed and three healthy subjects complete these experiments. sEMG signals from six muscles of arms are selected and analyzed. The results derived from fatigue experiments validate that the introduced method is better at quantifying the muscle fatigue compared with traditional method mean power frequency (MNF). WPEE is applied in exoskeleton experiments to investigate the arms' muscle fatigue under three conditions. The quantitative results detailly express the user's muscle fatigue condition and fatigue trends when the user is using an exoskeleton with crutches. Considering the muscle fatigue will contribute to ergonomic design and high-quality interactive control of exoskeleton.