Patent ID: 8359123

Claim:
A robotic system for rehabilitation using electromyographic (EMG) signals to provide a mechanical help, comprising: an EMG electrode; a data acquisition card; a control unit connecting to said EMG electrode and said data acquisition card in series; a driver connecting to said data acquisition card; an additional torque providing unit connecting to said driver, wherein the EMG signals from the muscle corresponding to affected joints are detected by said EMG electrode, and inputted into said control unit via said data acquisition card; and based on the inputted EMG signals and a preset constant torque required for the mechanical help, an additional torque to the affected joints is calculated by said control unit and further is provided via said data acquisition card to said driver; said driver controls said additional torque providing unit to provide said additional torque for assisting the affected joints; wherein a normalized EMG signal (NEMG j ) is calculated by said control unit under the following equation (1): NEMG j = w j - w r w mvc - w r ( 1 ) wherein, w j is an amplitude of rectified and filtered EMG signals created by the current acting of the affected joints' muscle, w r is an amplitude rectified and filtered EMG signals created by the affected joints' muscle at rest, w mvc is the rectified and filtered maximum amplitude of EMG signals created during maximal voluntary contraction of the affected joints' muscle; said additional torque T m is calculated by said control unit under the following equation (2): T m =K 1 ×NEMG j −K 2 ×NEMG i +T 0 (2) wherein, NEMG j is normalized EMG signal of an agonistic muscle of the affected joints' muscle, NEMG i is normalized EMG signal of an antagonistic muscle of the affected joints' muscle, K 1 is a weighting coefficient of the agonistic muscle, K 2 is a weighting coefficient of the antagonistic muscle, and T 0 is an additional constant torque that is provided according to requirement.