Design and development of the sEMG-based exoskeleton strength enhancer for the legs

Cenit, Mikecon and Gandhi, Vaibhav ORCID logoORCID: (2020) Design and development of the sEMG-based exoskeleton strength enhancer for the legs. Journal of Mechatronics, Electrical Power, and Vehicular Technology, 11 (2) . pp. 64-74. ISSN 2087-3379 [Article] (doi:10.14203/j.mev.2020.v11.64-74)

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This paper reviews the different exoskeleton designs and presents a working prototype of a surface electromyography (EMG) controlled exoskeleton to enhance the strength of the lower leg. The Computer Aided Design (CAD) model of the exoskeleton is designed,3D printed with respect to the golden ratio of human anthropometry, and tested structurally. The exoskeleton control system is designed on the LabVIEW National Instrument platform and embedded in myRIO. Surface EMG sensors (sEMG) and flex sensors are usedcoherently to create different state filters for the EMG, human body posture and control for the mechanical exoskeleton actuation. The myRIO is used to process sEMG signals and send control signals to the exoskeleton. Thus,the complete exoskeleton system consists of sEMG as primary sensor and flex sensor as a secondary sensor while the whole control system is designed in LabVIEW. FEA simulation and tests show that the exoskeleton is suitable for an average human weight of 62 kg plus excess force with different reactive spring forces. However, due to the mechanical properties of the exoskeleton actuator, it will require an additional liftto provide the rapid reactive impulse force needed to increase biomechanical movement such as squatting up. Finally, with the increasing availability of such assistive devices on the market, the important aspect of ethical, social and legal issues have also emerged and discussed in this paper.

Item Type: Article
Additional Information: [Retracted] Design and development of the sEMG-based exoskeleton strength enhancer for the legs
10.14203/j.mev.2019.v10.61-71 Mikecon Cenit, Vaibhav Gandhi], Vol 10, No 2 (2019)pp. 61-71
"Article Retraction Notification:
This article has been Retracted. Please see MEV Policy on Article Withdrawal at: (
The authors and the editorial boards agree to retract this article due to technical matter and should not be included in this issue (Vol 10, 2019). The Publisher hereby confirms that the retraction of this article was in no way due to any flawed data, image manipulation, or misleading information by the authors. The publisher deeply regrets the impact of this action.
Republish version of this document can be found at"
Keywords (uncontrolled): leg-exoskeleton;electromyographybased exoskeleton;LabVIEW myRIO; ethical, societal,and legal concerns.
Research Areas: A. > School of Science and Technology > Design Engineering and Mathematics
Item ID: 30292
Notes on copyright: ©2020 Research Centre for Electrical Power and Mechatronics -Indonesian Institute of Sciences. This is an open access article under the CC BY-NC-SA license.
Useful Links:
Depositing User: Vaibhav Gandhi
Date Deposited: 02 Jun 2020 08:21
Last Modified: 11 Jan 2021 13:04

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