Researchers have developed a portable, low-cost wrist exoskeleton for isokinetic rehabilitation training that uses electromyography (EMG) supervision to increase patient engagement. The system addresses limitations of conventional isokinetic devices, which are often bulky, expensive, and offer limited active participation. The exoskeleton features a reconfigurable soft pneumatic actuator based on a multi-chamber scale-like airbag array, integrated into a flexible wearable design tailored to wrist kinematics.
Key takeaways
- EMG-supervised chain impedance control maps neural activation to actuation stiffness, enabling adaptive pressure regulation for combined passive-assist and active-resistance training.
- In experiments, EMG supervision increased voluntary force generation by 30%, demonstrating improved patient engagement during training.
- The drive model accurately characterizes output force, and the exoskeleton's motion range meets functional wrist training requirements.
The control strategy uses a neural network to predict required pneumatic pressure from EMG signals, ensuring patients maintain maximal muscle activation throughout training. This approach supports multi-scenario, customizable rehabilitation, offering a promising alternative for home or community settings.
Source: 《机器人》期刊 (robot.sia.cn) · Published 2026-03-25 · “基于EMG监督的鳞片式气动腕外骨骼等速训练控制方法”