A system for real-time estimation of joint torque with evoked EMG under electrical stimulation

Zhan Li 1, 2 Mitsuhiro Hayashibe 1, 2 David Andreu 2 David Guiraud 2
2 DEMAR - Artificial movement and gait restoration
CRISAM - Inria Sophia Antipolis - Méditerranée , LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Functional electrical stimulation (FES) is a useful rehabilitation technique for restoring motor capability of spinal cord injured (SCI) patients by artificially driving muscle contractions. Real-time FES systems with online modulation ability are in great need for clinical applications. In this work, a system for real-time estimation of joint torque with evoked electromyography (eEMG) is presented. Kalman filter (KF) is adopted and embedded into the system as the online torque estimator. The real-time estimation system would be promising toward FES control with consideration of torque changes caused by muscle fatigue.
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Zhan Li, Mitsuhiro Hayashibe, David Andreu, David Guiraud. A system for real-time estimation of joint torque with evoked EMG under electrical stimulation. ICNR: International Conference on NeuroRehabilitation, Jun 2014, Aalborg, Denmark. pp.513-520, ⟨10.1007/978-3-319-08072-7_76⟩. ⟨lirmm-00983717⟩

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