EMG model calibration and trajectory tracking of rehabilitation exoskeleton by asynchronous tele-training

Abstract

This study presents a novel kinematic tracking model, designed for a networked exoskeleton system that is asynchronously taught by a remote therapist. The therapist’s rehabilitation exercises are quantitatively assessed using a monocular vision system. The resultant metrics are then transmitted asynchronously over the network to patients equipped with exoskeletons. The exoskeleton utilises these metrics as reference paths for exercises, complemented by electromyography (EMG) feedback.