Embedded system for upper-limb exoskeleton based on electromyography control

Triwiyanto Triwiyanto, I Putu Alit Pawana, Bambang Guruh Irianto, Tri Bowo Indrato, I Dewa Gede Hari Wisana


A major problem in an exoskeleton based on electromyography (EMG) control with pattern recognition-based is the need for more time to train and to calibrate the system in order able to adapt for different subjects and variable. Unfortunately, the implementation of the joint prediction on an embedded system for the exoskeleton based on the EMG control with non-pattern recognition-based is very rare. Therefore, this study presents an implementation of elbow-joint angle prediction on an embedded system to control an upper limb exoskeleton based on the EMG signal. The architecture of the system consisted of a bio-amplifier, an embedded ARMSTM32F429 microcontroller, and an exoskeleton unit driven by a servo motor. The elbow joint angle was predicted based on the EMG signal that is generated from biceps. The predicted angle was obtained by extracting the EMG signal using a zero-crossing feature and filtering the EMG feature using a Butterworth low pass filter. This study found that the range of root mean square error and correlation coefficients are 8°-16° and 0.94-0.99, respectively which suggest that the predicted angle is close to the desired angle and there is a high relationship between the predicted angle and the desired angle.


electromyography; embedded system; exoskeleton; feature extraction; zero crossing;

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DOI: http://doi.org/10.12928/telkomnika.v17i6.11670


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TELKOMNIKA Telecommunication, Computing, Electronics and Control
ISSN: 1693-6930, e-ISSN: 2302-9293
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