Active Upper Limb Exoskeleton controlled by sEMG - MATLAB and Simulink Student Design Challenge

This video presents the project of an upper limb active exoskeleton that uses the surface electromyographic signals to do torque control and to amplify the user's physical capacities.
It uses Pneumatic Artificial Muscles as actuators for its excellent power to weight ratio and the system model is optimized using genetic algorithms from the MatLab Global Optimization Toolbox.


Experiments showed that the equipment is not only able to increase the users mechanical force but it's also capable of improving the fatigue endurance.

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Valkyrie Coordinates Upper and Lower Body Behaviors

Valkyrie undergoes a series of tests to coordinate her upper and lower body. The control architecture enables advanced manipulation using planners and whole-body compliant controllers, while the lower body enables mobility in the various terrains. Valkyrie is a collaborative effort lead by NASA's Johnson Space Center where UT Austin plays a key role on providing a sensor-based Whole-Body Compliant Control Architecture for manipulation and mobility.

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