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
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
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.
Type de document :
Communication dans un congrès
ICNR: International Conference on NeuroRehabilitation, Jun 2014, AAlborg, Denmark. 2nd International Conference on NeuroRehabilitation, 2014, 〈http://icnr2014.org/〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00983717
Contributeur : Zhan Li <>
Soumis le : vendredi 25 avril 2014 - 16:11:12
Dernière modification le : mardi 13 novembre 2018 - 10:48:52

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  • HAL Id : lirmm-00983717, version 1

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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. 2nd International Conference on NeuroRehabilitation, 2014, 〈http://icnr2014.org/〉. 〈lirmm-00983717〉

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