Abstract
Among Cervical cord injury, C4 level is tetraplegia. In this study, we support their upper limb motion. As motion intention, we use their Electro Myo Gram (EMG) as motion intention, and support flexion and extension motion at elbow joint by motion assist robot. The subject in this study can exert EMG, but can't control EMG level, as a healthy person can. In this study, we estimate C4 level cervical cord injury patient's motion intention by frequency analysis for EMG signal in real time, and vary the variable coefficient of viscosity's decay rate in admittance controller. Furthermore, the motion assist system compensates EMG signal input based on frequency analysis result while the EMG signal input is stopped against their intention. We conducted the verification experiment about these methods. Using this motion assist method, we support arbitrary upper limb motion of C4 level cervical cord injury patient decline EMG control capability.
