{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T01:59:19Z","timestamp":1767923959495,"version":"3.49.0"},"reference-count":45,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2014,4,10]],"date-time":"2014-04-10T00:00:00Z","timestamp":1397088000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>We developed an upper-limb power-assist exoskeleton actuated by pneumatic muscles. The exoskeleton included two metal links: a nylon joint, four size-adjustable carbon fiber bracers, a potentiometer and two pneumatic muscles. The proportional myoelectric control method was proposed to control the exoskeleton according to the user\u2019s motion intention in real time. With the feature extraction procedure and the classification (back-propagation neural network), an electromyogram (EMG)-angle model was constructed to be used for pattern recognition. Six healthy subjects performed elbow flexion-extension movements under four experimental conditions: (1) holding a 1-kg load, wearing the exoskeleton, but with no actuation and for different periods (2-s, 4-s and 8-s periods); (2) holding a 1-kg load, without wearing the exoskeleton, for a fixed period; (3) holding a 1-kg load, wearing the exoskeleton, but with no actuation, for a fixed period; (4) holding a 1-kg load, wearing the exoskeleton under proportional myoelectric control, for a fixed period. The EMG signals of the biceps brachii, the brachioradialis, the triceps brachii and the anconeus and the angle of the elbow were collected. The control scheme\u2019s reliability and power-assist effectiveness were evaluated in the experiments. The results indicated that the exoskeleton could be controlled by the user\u2019s motion intention in real time and that it was useful for augmenting arm performance with neurological signal control, which could be applied to assist in elbow rehabilitation after neurological injury.<\/jats:p>","DOI":"10.3390\/s140406677","type":"journal-article","created":{"date-parts":[[2014,4,10]],"date-time":"2014-04-10T11:41:08Z","timestamp":1397130068000},"page":"6677-6694","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":162,"title":["An Upper-Limb Power-Assist Exoskeleton Using Proportional Myoelectric Control"],"prefix":"10.3390","volume":"14","author":[{"given":"Zhichuan","family":"Tang","sequence":"first","affiliation":[{"name":"College of Computer Science and Technology, Zhejiang University, Hangzhou 310027, China"}]},{"given":"Kejun","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, Zhejiang University, Hangzhou 310027, China"}]},{"given":"Shouqian","family":"Sun","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, Zhejiang University, Hangzhou 310027, China"}]},{"given":"Zenggui","family":"Gao","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, Zhejiang University, Hangzhou 310027, China"}]},{"given":"Lekai","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, Zhejiang University, Hangzhou 310027, China"}]},{"given":"Zhongliang","family":"Yang","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering, Donghua University, Shanghai 201620, China"}]}],"member":"1968","published-online":{"date-parts":[[2014,4,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1064","DOI":"10.1109\/TSMCB.2012.2185843","article-title":"An EMG-based control for an upper-limb power-assist exoskeleton robot","volume":"42","author":"Kiguchi","year":"2012","journal-title":"IEEE Trans. Syst. Man Cybern. Part B Cybern."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"716","DOI":"10.20965\/ijat.2009.p0716","article-title":"Upper-limb power-assist control for agriculture load lifting","volume":"3","author":"Yagi","year":"2009","journal-title":"Int. J. Autom. Technol."},{"key":"ref_3","unstructured":"Su, H., Li, Z., Li, G., and Yang, C. (2013). Advances in Neural Networks\u2013ISNN 2013, Springer."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"336","DOI":"10.1109\/TNSRE.2007.903903","article-title":"Design and control of RUPERT: A device for robotic upper extremity repetitive therapy","volume":"15","author":"Sugar","year":"2007","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"210","DOI":"10.1109\/3468.925661","article-title":"A myosignal-based powered exoskeleton system","volume":"31","author":"Rosen","year":"2001","journal-title":"IEEE Trans. Syst. Man Cybern. Part A Syst. Humans"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"2180","DOI":"10.1109\/TBME.2012.2198821","article-title":"Intention-Based EMG Control for Powered Exoskeletons","volume":"59","author":"Lenzi","year":"2012","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1804","DOI":"10.1152\/jn.01128.2011","article-title":"Locomotor adaptation to a soleus EMG-controlled antagonistic exoskeleton","volume":"109","author":"Gordon","year":"2013","journal-title":"J. Neurophysiol"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/1475-925X-9-41","article-title":"Surface EMG pattern recognition for real-time control of a wrist exoskeleton","volume":"9","author":"Khokhar","year":"2010","journal-title":"Biomed. Eng. Online"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Gopura, R.A.R.C., Kiguchi, K., and Li, Y. (2009, January 10\u201315). SUEFUL-7: A 7DOF upper-limb exoskeleton robot with muscle-model-oriented EMG-based control. St. Louis, MO, USA.","DOI":"10.1109\/IROS.2009.5353935"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Alley, R., and Sears, H. (2004). Powered Upper Limb Prostheses, Springer.","DOI":"10.1007\/978-3-642-18812-1_7"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"435","DOI":"10.4028\/www.scientific.net\/AMR.701.435","article-title":"Analysis of Surface Electromyography for On-Off Control","volume":"701","author":"Chan","year":"2013","journal-title":"Adv. Mater. Res."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1088\/1741-2560\/10\/3\/036019","article-title":"Pathological tremor prediction using surface electromyogram and acceleration: Potential use in \u201cON\u2013OFF\u201d demand driven deep brain stimulator design","volume":"10","author":"Basu","year":"2013","journal-title":"J. Neural Eng."},{"key":"ref_13","unstructured":"Shukla, P., Basu, I., Graupe, D., Tuninetti, D., and Slavin, K.V. (1, January 28). A neural network-based design of an on-off adaptive control for Deep Brain Stimulation in movement disorders. San Diego, CA, USA."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Pistohl, T., Cipriani, C., Jackson, A., and Nazarpour, K. (2013, January 3\u20137). Adapting proportional myoelectric-controlled interfaces for prosthetic hands. Osaka, Japan.","DOI":"10.1109\/EMBC.2013.6610968"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"663","DOI":"10.1109\/TNSRE.2012.2196711","article-title":"Control of Upper Limb Prostheses: Terminology and Proportional Myoelectric Control\u2014A Review","volume":"20","author":"Fougner","year":"2012","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"541","DOI":"10.1016\/j.jelekin.2006.08.006","article-title":"Myoelectric signal processing for control of powered limb prostheses","volume":"16","author":"Parker","year":"2006","journal-title":"J. Electromyogr. Kinesiol."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"143","DOI":"10.1007\/s11517-012-0979-4","article-title":"Effect of arm position on the prediction of kinematics from EMG in amputees","volume":"51","author":"Jiang","year":"2013","journal-title":"Med. Biol. Eng. Comput."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Nielsen, J.L., Holmgaard, S., Jiang, N., Englehart, K., Farina, D., and Parker, P. (2009, January 3\u20136). Enhanced EMG signal processing for simultaneous and proportional myoelectric control. Minneapolis, MN, USA.","DOI":"10.1109\/IEMBS.2009.5332745"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"425","DOI":"10.1016\/j.gaitpost.2005.05.004","article-title":"An improved powered ankle-foot orthosis using proportional myoelectric control","volume":"23","author":"Ferris","year":"2006","journal-title":"Gait Posture"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1123\/jab.21.2.189","article-title":"An ankle-foot orthosis powered by artificial pneumatic muscles","volume":"21","author":"Ferris","year":"2005","journal-title":"J. Appl. Biomech."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Ferris, D.P., and Lewis, C.L. (2009, January 3\u20136). Robotic lower limb exoskeletons using proportional myoelectric control. Minneapolis, MN, USA.","DOI":"10.1109\/IEMBS.2009.5333984"},{"key":"ref_22","unstructured":"Fougner, A. (2013). Robust Coordinated Proportional Myoelectric Control of Upper-Limb Prostheses. [Ph.D. Thesis, Norwegian University of Science and Technology]."},{"key":"ref_23","unstructured":"Fougner, A.L. (2007). Proportional Myoelectric Control of a Multifunction Upper-Limb Prosthesis. [Ph.D. Thesis, Norwegian University of Science and Technology]."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"371","DOI":"10.1109\/TNSRE.2011.2178039","article-title":"Simultaneous and proportional estimation of hand kinematics from EMG during mirrored movements at multiple degrees-of-freedom","volume":"20","author":"Muceli","year":"2012","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"2687","DOI":"10.1007\/s10439-013-0876-5","article-title":"Abstract and Proportional Myoelectric Control for Multi-Fingered Hand Prostheses","volume":"41","author":"Pistohl","year":"2013","journal-title":"Ann. Biomed. Eng."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1007\/s00221-011-2981-8","article-title":"Do we use a priori knowledge of gravity when making elbow rotations?","volume":"217","author":"Pinter","year":"2012","journal-title":"Exp. Brain Res."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1109\/37.833638","article-title":"Modeling and control of McKibben artificial muscle robot actuators","volume":"20","author":"Tondu","year":"2000","journal-title":"IEEE Control Syst."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"311","DOI":"10.1016\/j.conengprac.2009.11.010","article-title":"Nonlinear model-based control of pneumatic artificial muscle servo systems","volume":"18","author":"Shen","year":"2010","journal-title":"Control Eng. Pract."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1155\/2011\/143016","article-title":"Myoelectric control techniques for a rehabilitation robot","volume":"8","author":"Smith","year":"2011","journal-title":"Appl. Bion Biomech."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"135","DOI":"10.1123\/jab.13.2.135","article-title":"The use of surface electromyography in biomechanics","volume":"13","year":"1997","journal-title":"J. Appl. Biomech."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"210","DOI":"10.1002\/mus.880160216","article-title":"Use of the surface EMG signal for performance evaluation of back muscles","volume":"16","year":"1993","journal-title":"Muscle Nerve"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"139","DOI":"10.1123\/jab.28.2.139","article-title":"Evaluation of fatigue of respiratory and lower limb muscles during prolonged aerobic exercise","volume":"28","author":"Nadiv","year":"2012","journal-title":"J. Appl. Biomech."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"851","DOI":"10.1016\/S0893-6080(98)00043-4","article-title":"Statistical estimation of the number of hidden units for feedforward neural networks","volume":"11","author":"Fujita","year":"1998","journal-title":"Neural Netw."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"485","DOI":"10.1007\/BF02523219","article-title":"Feature-based classification of myoelectric signals using artificial neural networks","volume":"36","author":"Gallant","year":"1998","journal-title":"Med. Biol. Eng. Comput."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"275","DOI":"10.1016\/j.bspc.2007.07.009","article-title":"Myoelectric control systems\u2014A survey","volume":"2","author":"Hu","year":"2007","journal-title":"Biomed. Signal Process. Control"},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Chin, Y., Chu, F., Huang, S., and Yang, H. (2011, January 21\u201323). Based on PSoC electric angle meter. Kaohsiung, Taiwan.","DOI":"10.1109\/RVSP.2011.39"},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"471","DOI":"10.1109\/86.895950","article-title":"EMG-based prediction of shoulder and elbow kinematics in able-bodied and spinal cord injured individuals","volume":"8","author":"Au","year":"2000","journal-title":"IEEE Trans. Rehabil. Eng."},{"key":"ref_38","unstructured":"Lee, S., Oh, J., Kim, Y., Kwon, M., and Kim, J. (1, January 29). Estimation of the upper limb lifting movement under varying weight and movement speed. Jeju, Korea."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"1646","DOI":"10.1152\/jn.00009.2006","article-title":"Decomposition of surface EMG signals","volume":"96","author":"Adam","year":"2006","journal-title":"J. Neurophysiol"},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/1743-0003-6-23","article-title":"A pneumatically powered knee-ankle-foot orthosis (KAFO) with myoelectric activation and inhibition","volume":"6","author":"Sawicki","year":"2009","journal-title":"J. Neuroeng. Rehabil"},{"key":"ref_41","first-page":"415","article-title":"Development of new protocols and analysis procedures for the assessment of LBP by surface EMG techniques","volume":"34","author":"Taylor","year":"1997","journal-title":"Development"},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"298","DOI":"10.1080\/00140139608964460","article-title":"Electromyographical study on surgeons in urology. II. Determination of muscular fatigue","volume":"39","author":"Luttmann","year":"1996","journal-title":"Ergonomics"},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"507","DOI":"10.1142\/S0219843607001138","article-title":"A physiologist's perspective on robotic exoskeletons for human locomotion","volume":"4","author":"Ferris","year":"2007","journal-title":"Int. J. Humanoid Robot"},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"643","DOI":"10.1682\/JRRD.2010.09.0177","article-title":"Electromyogram pattern recognition for control of powered upper-limb prostheses: State of the art and challenges for clinical use","volume":"48","author":"Scheme","year":"2011","journal-title":"J. Rehabil. Res. Dev."},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1109\/LSP.2021.3130797","article-title":"Myoelectric control of artificial limbs\u2014Is there a need to change focus","volume":"29","author":"Jiang","year":"2012","journal-title":"IEEE Signal Process. Mag."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/14\/4\/6677\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:10:08Z","timestamp":1760217008000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/14\/4\/6677"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,4,10]]},"references-count":45,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2014,4]]}},"alternative-id":["s140406677"],"URL":"https:\/\/doi.org\/10.3390\/s140406677","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,4,10]]}}}