Volume 10,Issue 9
Myoelectric Control for Robotic Exoskeletons: A Comprehensive Review from Signal Processing to Future Directions
Electromyography (EMG) control technology would be used to realize natural human-robot interaction in exoskeletons. The presented work gives a systematic literature overview of the EMG signal processing and control algorithms to be used in exoskeletons. To begin with, it describes how surface EMG signals are generated and acquired and what the benefits and drawbacks of various types of electrodes and sensors are. Secondly, it discusses the detailed process of signal processing, such as preprocessing, filtering, feature extraction (especially the Root Mean Square (RMS) within the time domain), and pattern recognition methods. Based on this, it groups and examines threshold control, proportional control, and control strategies based on machine learning and describes their appropriate areas of application. Lastly, it recaps the main issues at stake today (variability of signals, real-time constraints, and barriers to clinical translation) and envisions future research perspectives like multimodal fusion, edge computing, and personalized adaptive control. The purpose of the present review is to offer an organized body of knowledge about EMG-controlled exoskeletons to those who are new to electronics and information-related disciplines.
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