BIOMECHATRONICS

DEVELOPEMENT OF
EXOSEKELTON UPPER-LIMP
USING EMG CONTROL
Joselyne Zoila Cano Castillo, Armando Mrquez Das, Khin Rosales
Ayala*, Vctor Torres Padrn

Mechatronics Engineering, 8th Semester

Keywords: Biomechatronics, exoskeleton, arm, upper limb, electromyography, processing signals,
MATLAB

Abstract
Helping people with disabilities to regain control over their limbs, provide increased mobility for the
elderly or augment capabilities of workers performing heavy labor, these are only a few examples where
exoskeleton suits can provide significant benefits for our health and safety. Recently, many robots have
been used in rehabilitation and training tasks. In general, robotic rehabilitation can be categorized into
two styles which are wearable and non-wearable. This paper proposes a mechanism and control method
of a mobile exoskeleton robot for 3DOF upper-limb motion assist (shoulder vertical and horizontal
flexion/extension, and elbow flexion/extension motion assist). The exoskeleton robot is mainly controlled
by the skin surface electromyogram (EMG) signals, since EMG signals of muscles directly reflect how the
user intends to move. The EMG signal is a measure of the electrical activity of the muscle. This raw EMG
signal consists of a series of spikes whose amplitude depends on the amount of force delivered by the
biceps the stronger the contraction of the muscle, the larger the amplitude of the EMG signal. Everything
will be done in theoretical analysis to real life simulations using different programming software. The
objective is to create a real time functional exoskeleton arm that reads your mind, which can be outfitted
for anyone to use.

1. - Introduction
Helping people with disabilities to regain control
over their limbs, provide increased mobility for
the elderly or augment capabilities of workers
performing heavy labor, these are only a few
examples where exoskeleton suits can provide
significant benefits for our health and safety.
The idea behind exoskeletons can be traced back
to 1890 when Nicholas Yagn1 created the first
suit of this type, actuating the various
components with energy stored in gas bags. This
device was used by the Russian engineer to walk,
jump and run in a form similar to suits nowadays.
The modern version of todays exoskeletons was
designed and built in the 1960s by General
Electric and the United States Military. The suit
was powered by hydraulic systems and
electricity with a maximum loading weight of
110 kg (250 lbs). Named Hardiman2 (figure 1),
the exoskeleton had a weight rate of 1 to 11, a
user which lifts 11 kg feels the weight of 1 kg.
 Since then, when exoframes were designed to be
used solely in military applications, the
technology went through a lot of improvement
so latest projects have a futuristic design, are
comfortable to wear and can sense even the
tiniest body movements.
Figure 1. Hardiman I prototype.
Recently, many robots have been used in
rehabilitation and training tasks. In general,
robotic rehabilitation can be categorized into
two styles which are wearable and non-
wearable. For arm rehabilitation, joints and links
of the wearable rehabilitation robot are usually
designed correspondingly to the patient arm
such as the cable-actuated dexterous
exoskeleton for neurorehabilitation (CADEN)-7.
The design of "CADEN" applies the cable-pulley
to transmit torque/force from motor to each
joint. This design can reduce weight of
exoskeleton. ARMinIII is designed to have 3
degrees of freedom for shoulder and 1 degree of
freedom for elbow. [1]
Most exoskeleton developers focus on using
electrically driven motors to support arm
movement, ambulation or to carry objects on
the back. Manipulation of heavy goods as seen in
industrial applications are however rarely
addressed. The main obstacles in these
applications are the restricted power availability
*Author of this article
1- Nicholas Yagn, of St.Petersburg, Russia, designed a set of walking, jumping, and running assisted apparatus from 1889-1890. Patent number: 440684
2- 1965-71 - G.E. Hardiman Exoskeleton Ralph Mosher (American) - cyberneticzoo.com
and the weight and volume of the
exoskeleton.[2]
This paper proposes a mechanism and control
method of a mobile exoskeleton robot for 3DOF
upper-limb motion assist (shoulder vertical and
horizontal flexion/extension, and elbow
flexion/extension motion assist). The
exoskeleton robot is mainly controlled by the
skin surface electromyogram (EMG) signals,
since EMG signals of muscles directly reflect how
the user intends to move.
The force vector at the end-effector is taken into
account to generate the natural and smooth
hand trajectory of the user in the proposed
control method. An obstacle avoidance
algorithm is applied to prevent accidental
collision between the users upper-limb and the
robot frame.
The EMG signal is a measure of the electrical
activity of the muscle. The electrical activity is
the result of a signal generated in the brain
which is transmitted through the nervous system
to the motor neuron attached to the muscle
fibers in the muscle. The motor neuron fires
resulting in a depolarization/repolarization wave
throughout the muscle fiber. This wave creates
an action potential in the muscle fibers resulting
in the movement of electric charges. This
electrical activity produces an electric signal in
the muscle which can be picked up by well-
placed electrodes on the surface of the skin. The
acquired signal is called the Electromyogram
(EMG) signal.[3, 9]
The amplitude of this EMG signal is directly
related to the amount of force delivered by the
biceps. From this amplitude we can make a close
determination of the force delivered by the
biceps and translate this force into the torque
which can then be sent to the exoskeleton
actuator the DC motor. In this manner, the
exoskeleton will assist in bearing a load on the
human arm. [3, 9]
This raw EMG signal consists of a series of spikes
whose amplitude depends on the amount of
force delivered by the biceps the stronger the
contraction of the muscle, the larger the
amplitude of the EMG signal. The frequency of
the spikes is the firing rate of the motor neurons.
Since the amplitude of the EMG signal is directly
related to the force exerted by the muscle, it is
used to determine the force signal sent to the
exoskeleton.[3]
Figure 2. The Titan Arm robotic exoskeleton. By
Nicholas McGill and Nicholas Parrotta, University of
Pennsylvania
In late 2012, a team of mechanical engineering
students at University of Pennsylvania set out to
build a portable, affordable exoskeleton.
Elizabeth Beattie, Nicholas McGill, Nick Parrotta,
and Nikolay Vladimirov had the Titan Arm (figure
2): an efficient, lightweight, and surprisingly
powerful robotic limb. Its actuator, or electronic
muscle, could provide resistance during
therapeutic exercises and can augment strength,
allowing its wearer to lift an additional 40
pounds with little effort. [29]
For the biomechanical analysis, OpenSim solves
the muscle-skeleton system and includes models
for different conditions that can be used in the
design process. SolidWorks R that is applied in
assistive computer design evaluates the
mechanical part of the exoskeleton and Matlab
solves the control system that takes over the
exoskeleton. [30]
The Exoskeleton uses sensors that estimate the
force produced by the human, these sensors are
coupled in the SEA (Series Elastic Actuator) used
for amplify human strength. The amplification
strength can be increased or decreased as
needed, allowing the user an evolutionary
improvement to reach rehabilitation. [31]
2. - Methodology
Idea Investigation
Analysis and
Design
Calculations
Programming Simulations
Assembly of the
Manufacturing
manufactured
of the design
design
Finishing
Testing
touches
Results and final
prototype
Idea: The idea for this project is to help
people in rehabilitations, for soldiers of
the army and for people in the industrial
sector have a safer work place, this
means more work can be done with
minimum effort and less fatigue on the
person.
Investigation: This part implements a
thorough investigation of what is this
going to be about and how are we going
to do the advanced exoskeleton upper
limb.
Analysis and calculations: In this section,
we are going to see and demonstrate
which equations are going to be used.
The analysis of our space and its
calculations of a human arm.
Design: Once we have our calculations
and analysis, we will begin the process of
designing the prototype to meet our
 expectations. The design includes the
infrastructure of the prototype as well as
its circuitry.
Programming: Using programs that of
Arduino, Multisim, LabVIEW and
MATLAB for the signal processing. The
programs will contain the readings of
the equipment and sensors that will be
used such as electromyograph
electrodes or others.
Simulations: In this part, the programs,
analysis, designs and other factors will
be put to the test in all out simulations
to determine if every aforementioned
were correct and to see how the
prototype moves, senses and acts with
the human upper limb.
Manufacturing of the design: In this
section, we will be working on the actual
prototype, which were determined by
the designs and its simulations. The
means of manufacture will be
determined in Section 7 of this article.
Assembly of the manufactured design: In
this section, we will be assembling the
manufactured prototype with
everything else.
Testing: The experimental phase of the
project will be covered in this section,
and it will show its full functionality.
Finishing touches: This section will cover
anything missed or any set backs on the
final prototype and its functions.
Results and final prototype: In this
section, the results of everything will be
demonstrated and compared as well as
the prototype itself.
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