Articles | Volume 13, issue 2
Research article
03 Aug 2022
Research article |  | 03 Aug 2022

Electromyogram-based motion compensation control for the upper limb rehabilitation robot in active training

Qiaoling Meng, Yiming Yue, Sujiao Li, and Hongliu Yu

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Cited articles

Bai, J., Song, A., Wang, T., and Li, H.: A novel backstepping adaptive impedance control for an upper limb rehabilitation robot, Comput. Electr. Eng., 80, 106465,, 2019. 
Bertani, R., Melegari, C., De Cola, M. C., Bramanti, A., Bramanti, P., and Calabrò, R. S.: Effects of robot-assisted upper limb rehabilitation in stroke patients: a systematic review with meta-analysis, Neurol. Sci., 38, 1561–1569,, 2017. 
Brahmi, B., Saad, M., Luna, C. O., Archambault, P. S., and Rahman, M. H.: Passive and active rehabilitation control of human upper-limb exoskeleton robot with dynamic uncertainties, Robotica, 36, 1757–1779,, 2018. 
Büsching, I., Sehle, A., Stürner, J., and Liepert, J.: Using an upper extremity exoskeleton for semi-autonomous exercise during inpatient neurological rehabilitation-a pilot study, J. Neuroeng. Rehabil., 15, 1–7,, 2018. 
Cao, W., Zhang, F., Yu, H., Hu, B., and Meng, Q.: Preliminary research of a novel center-driven robot for upper extremity rehabilitation, Technol. Health Care., 26, 409–420,, 2018. 
Short summary
This paper proposes a novel EMG-based motion compensation controller in active training control to improve patients’ active participation. After proposing an upper limb rehabilitation robot and doing the path plan, the EMG compensation experiments and the active training control experiment are done to prove that the method can control the robot in providing auxiliary force according to patients’ motion intents. The robot can guide the patients in implementing reference tasks in active training.