DESIGN AND IMPLEMENTATION OF A MECHATRONIC ELBOW ORTHOSIS

Vu Trieu Minh, Mart Tamre, Aleksei Safonov, Victor Musalimov, Pavel Kovalenko, and Iurii Monakhov

Keywords

Electromyography, elbow orthosis, mechatronics, biopotential signals, motion intention

Abstract

This project provides the design and implementation of a mechatronic orthosis used as home-based rehabilitation for elbow injured patients training their bone ligaments, muscles and recovery at home. The proposed device is low cost and convenient for different users as it can be regulated and constructed with reliable mechanical and electronic components. Electromyography (EMG) sensors are used to measure the biopotential signals from the muscles to detect the patient’s motion intention. Data of patient’s motion intention and direction from EMG is filtered, processed and converted into the pulse-width modulation (PWM) to run the DC motor. The control algorithm is applied with adaptive linear quadratic Gaussian (LQG) and Kalman filter (KF). In this project, the DC motor can mimic the human motions with the maximum error of 6.9◦ over a maximum movement angle of 122◦ or the accuracy of the device reaches to 94%.

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