EMG Signal Reconstruction and Verification for Lower-Limb Exoskeleton
EMG signal · sliding mode control · compressive sensing · signal reconstruction · Delsys Trigno · MPU6050
Overview
This case documents a hardware-in-the-loop simulation platform built around EMG sensors for real-time compressive sampling and reconstruction of electromyographic signals. Combined with fuzzy algorithms and intelligent classification methods, the system validates reconstructed signal effectiveness across different motion modes. ---
System Architecture
Signal flow summary:
- EMG acquisition module captures muscle activity signals from the lower-limb exoskeleton subject.
- Gyroscope sensor (MPU6050) acquires joint angle data from the exoskeleton.
- Accelerometer sensor (MPU6050) acquires tilt angle signals from the exoskeleton joints.
- Pressure sensor (FSR402) acquires plantar pressure distribution maps from the exoskeleton foot.
- Sliding mode control signals drive the pneumatic actuators (Festo MAS series) of the exoskeleton.
Experimental Setup
Hardware Configuration
| Component | Model |
|---|---|
| EMG Acquisition System | Delsys Trigno |
| IMU (Gyroscope + Accelerometer) | MPU6050 |
| Resistive Pressure Sensor | FSR402 / RFP602 |
| Pneumatic Actuator | Festo MAS series |
Platform Compatibility Note
This system was validated under QUARC / Simulink. The signal interfaces (analog voltage, encoder, digital I/O) are electrically compatible with real-time control platforms including dSPACE, Speedgoat, and NI systems.
Applicable Scenarios
- Graduate research: exoskeleton control and rehabilitation robotics thesis experiments
- HIL simulation: EMG-driven control algorithm validation on real hardware
- Wearable robotics: motion intent recognition and real-time actuation testing
- Control course labs: sliding mode control implementation with biological signals
Important Notice
This application example documents an actual lab setup and is provided for technical reference only. Hardware shown reflects the validated configuration used in this experiment; equivalent substitutions may be applicable for similar setups. Customers are responsible for final product selection and application suitability assessment.
