Towards the next Generation in Human-machine-interfacing : : Controlling Wearable Robots via Neuromusculoskeletal Modelling

Abstract

This thesis presents the development of a new human machine interface for control of exoskeletons via a neuromusculoskeletal model driven in real-time by experimental EMGs and joint positions recorded from the user to predict joint torque. This predicted joint torque is then used to give assistance to the user via the exoskeleton.