Variable admittance control with sEMG-based support for wearable wrist exoskeleton
Our variable admittance control scheme with sEMG- and gravity-based support was most beneficial for patients with higher levels of impairment by improving range of motion and promoting voluntary effort. Future work could combine both controllers to customize and fine tune the stability of the support to a wider range of impairment levels and types.
Authors
- Daniel G. Woolley
- Roger Gassert (ORCID: https://orcid.org/0000-0002-6373-8518)
- Marc Siegenthaler
- Olivier Lambercy (ORCID: https://orcid.org/0000-0002-0760-7054)
- Nicole Wenderoth (ORCID: https://orcid.org/0000-0002-3246-9386)
- Charles Lambelet (ORCID: https://orcid.org/0000-0002-0638-790X)
- Mark Mathis
- Jeremia P. O. Held (ORCID: https://orcid.org/0000-0001-5373-2000)
Institutions
- University of Zurich (CH)
- ETH Zurich (CH)
Publication Details
- Journal
- Frontiers in Neurorobotics
- Published
- 2025-09-01
- DOI
- https://doi.org/10.3389/fnbot.2025.1562675
- Primary Topic
- Stroke Rehabilitation and Recovery
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- Eidgenössische Technische Hochschule Zürich