{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T23:58:24Z","timestamp":1740182304867,"version":"3.37.3"},"reference-count":43,"publisher":"Oxford University Press (OUP)","issue":"5","license":[{"start":{"date-parts":[[2021,8,19]],"date-time":"2021-08-19T00:00:00Z","timestamp":1629331200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,8,19]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In this study, an ankle intention detection algorithm was developed to calculate the torque the user wants to exert from the ankle starting from the user\u2019s EMG signal. Since the subtalar joint axis of the ankle is very important for stability, the intent detection algorithm also calculates the torque of the eversion motion of the subtalar joint axis. A dry EMG sensor was used to measure the EMG signal, and an ankle biaxial torque measurement device was manufactured to measure the ankle torque to perform the experiment. The experiment was conducted on four healthy subjects (mean\u00a0\u00b1\u00a0SD: height, 177.6\u00a0\u00b1\u00a07.3\u00a0cm; weight 70.2\u00a0\u00b1\u00a08.9\u00a0kg; and age, 27\u00a0\u00b1\u00a02 years), and the EMG signals and ankle torque were measured. Using the experimental results and a neural network, we developed an intention detection algorithm. When you input an EMG signal, the algorithm estimates the torque of eversion, dorsiflexion, and plantar flexion. The error of the algorithm is 0.37\u00a0Nm (subtalar) and 0.57\u00a0Nm (talocrural), which is 0.5% (subtalar) and 1.5% (talocrural) of the torque required for walking. Using the algorithm of this study, more accurate and stable exoskeleton robot control becomes possible.<\/jats:p>","DOI":"10.1093\/jcde\/qwab042","type":"journal-article","created":{"date-parts":[[2021,7,7]],"date-time":"2021-07-07T11:12:01Z","timestamp":1625656321000},"page":"1234-1242","source":"Crossref","is-referenced-by-count":3,"title":["Ankle intention detection algorithm using electromyography signal"],"prefix":"10.1093","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9453-7698","authenticated-orcid":false,"given":"Inwoo","family":"Kim","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Yonsei University, Seoul 03722, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Taehoon","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Yonsei University, Seoul 03722, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Soo-Hong","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Yonsei University, Seoul 03722, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"286","published-online":{"date-parts":[[2021,8,19]]},"reference":[{"key":"2021081915005641100_bib1","first-page":"1938","article-title":"A 1-dof assistive exoskeleton with virtual negative damping: Effects on the kinematic response of the lower limbs","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Aguirre-Ollinger","year":"2007"},{"key":"2021081915005641100_bib2","doi-asserted-by":"crossref","first-page":"2820","DOI":"10.1109\/ICRA.2018.8461046","article-title":"A lightweight and efficient portable soft exosuit for paretic ankle assistance in walking after stroke","volume-title":"IEEE International Conference on Robotics and Automation (ICRA)","author":"Bae","year":"2018"},{"key":"2021081915005641100_bib3","doi-asserted-by":"crossref","first-page":"1009","DOI":"10.1115\/1.2049333","article-title":"Design of a robotic gait trainer using spring over muscle actuators for ankle stroke rehabilitation","volume":"127\u20136","author":"Bharadwaj","year":"2005","journal-title":"Journal of Biomechanical Engineering"},{"key":"2021081915005641100_bib4","doi-asserted-by":"crossref","first-page":"24","DOI":"10.1109\/TNSRE.2003.823266","article-title":"Adaptive control of a variable-impedance ankle-foot orthosis to assist drop-foot gait","volume":"12\u20131","author":"Blaya","year":"2004","journal-title":"IEEE Transactions on Neural Systems and Rehabilitation Engineering"},{"key":"2021081915005641100_bib5","doi-asserted-by":"crossref","first-page":"10","DOI":"10.5535\/arm.2013.37.1.10","article-title":"The effects of changes of ankle strength and range of motion according to aging on balance","volume":"37\u20131","author":"Bok","year":"2013","journal-title":"Annals of Rehabilitation Medicine"},{"key":"2021081915005641100_bib6","doi-asserted-by":"crossref","first-page":"343","DOI":"10.1615\/CritRevBiomedEng.2014010453","article-title":"A review of lower extremity assistive robotic exoskeletons in rehabilitation therapy","volume":"41","author":"Chen","year":"2013","journal-title":"Critical Reviews in Biomedical Engineering"},{"key":"2021081915005641100_bib7","first-page":"4345","article-title":"On the biomimetic design of the berkeley lower extremity exoskeleton (bleex)","volume-title":"IEEE International Conference on Robotics and Automation","author":"Chu","year":"2005"},{"key":"2021081915005641100_bib8","doi-asserted-by":"crossref","first-page":"212","DOI":"10.1038\/nature14288","article-title":"Reducing the energy cost of human walking using an unpowered exoskeleton","volume":"522\u20137555","author":"Collins","year":"2015","journal-title":"Nature"},{"key":"2021081915005641100_bib9","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1016\/j.fas.2004.06.003","article-title":"Modelling of the ankle joint complex. 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