Research on the application of deformable exoskeleton in interactive rehabilitation training

Authors

  • Junwei Liang School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798 Author
  • Marta R. Gómez School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798 Author
  • Aiden H. Clarke School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798 Author
  • Fei Chen School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798 Author

DOI:

https://doi.org/10.71465/mrcis150

Keywords:

adaptive exoskeleton, rehabilitation training, EMG control, stiffness adjustment, muscle fatigue, motion accuracy, user feedback

Abstract

This study investigates a deformable exoskeleton equipped with real-time stiffness control for interactive rehabilitation. The system adjusts joint assistance based on surface electromyography (EMG) signals, enabling support during both passive and active movement phases. A total of 12 participants with mild lower-limb impairments completed two training sessions: one using fixed stiffness, and the other using adaptive stiffness regulated by EMG feedback. Muscle fatigue was assessed using the root mean square (RMS) of EMG signals, while motion accuracy was evaluated based on joint trajectory error (JTE). The adaptive condition led to a 31% decrease in muscle fatigue and an 18% improvement in movement accuracy. The response time of the system to EMG changes remained below 90 milliseconds. Performance was consistent across repeated cycles. These findings confirm the effectiveness of EMG-based stiffness control in reducing physical effort and improving motor precision. This approach holds potential for future rehabilitation systems that can adapt in real time to individual neuromuscular responses.

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Published

2025-12-01

Issue

Vol. 5 No. 10 (2025): Multidisciplinary Research in Computing Information Systems

Section

Articles

License

Creative Commons License

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