Ankle Intention Detection Algorithm with HD-EMG Sensor

Abstract

The ankle plays a very large role as an end effector in gait and leg erection. As the number of people with reduced mobility in the ankle joint due to aging and nerve damage increases, rehabilitation and related research are steadily increasing. However, most studies overlook the eversion action that plays an important role in stability. In this study, an intention detection algorithm including the eversion motion was developed, and a multi-channel EMG sensor module was developed and utilized. By moving the ankle in a specific direction, 36 channels of EMG signals were measured to determine the correlation between ankle motion and EMG signals. CNN and ADAM were used for algorithm production, and ankle motion was estimated with high accuracy.