Adaptive robotic assistance of the upper limb based on biomechanical and physiological response of the human
Abstract
Within the rehabilitation processes by means of robotic assistance, different applications and multiple types of control are studied, allowing the repetition of the processes. The results of these studies do not consider the conditions of the human within the control loop, for which it is proposed to characterize the user's effort through the myoelectric signals of the upper limb obtained by the Myo bracelet, being the modifier of an indicator within of the PD+G control setpoint. With which, samples of the myoelectric signals were taken while a task was performed with the robot, processed with a Kernel Gaussian filter, for the characterization of the effort by means of the nested polynomials method. The results obtained allow establishing a region within the robot's workspace where the patient's effort is minimal, thus incorporating biomechanical conditions within the haptic guidance process.
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