Gait Speed Control of Lower Limb Exoskeleton using Soleus Electromyogram Signals

Abstract

Our recent researches have proposed a prediction method of walking speed during swing phase using activation level of soleus muscles measured with electromyogram (EMG) sensors at push-off phase. This method was applied to control gait speed of a treadmill-based lower limb exoskeleton. EMG sensors were attached to healthy subject’s soleus muscles. The subject wore the exoskeleton and was able to walk at a desired walking speed. Experimental result shows that the method has the potential to improve the effectiveness of robot-assisted gait rehabilitation therapy for post-stroke hemiparetic patients.