Loading Recognition for Lumbar Exoskeleton Based on Multi-Channel Surface Electromyography from Low Back Muscles

Lumbar exoskeleton is an assistive robot, which can reduce the risk of injury and pain in low back muscles when lifting heavy objects. An important challenge it faces involves enhancing assistance with minimal muscle energy consumption. One of the viable solutions is to adjust the force or torque of assistance in response to changes in the load on the low back muscles. It requires accurate loading recognition, which has yet to yield satisfactory outcomes due to the limitations of available measurement tools and load classification methods. This study aimed to precisely identify muscle loading using a multi-channel surface electromyographic (sEMG) electrode array on the low back muscles, combined with a participant-specific load classification method. Ten healthy participants performed a stoop lifting task with objects of varying weights, while sEMG data was collected from the low back muscles using a 3x7 electrode array. Nineteen time segments of the lifting phase were identified, and time-domain sEMG features were extracted from each segment. Participant-specific classifiers were built using four classification algorithms to determine the object weight in each time segment, and the classification performance was evaluated using a 5-fold cross-validation method. The artificial neural network classifier achieved an impressive accuracy of up to 96%, consistently improving as the lifting phase progressed, peaking towards the end of the lifting movement. This study successfully achieves accurate recognition of load on low back muscles during the object lifting task. The obtained results hold significant potential in effectively reducing muscle energy consumption when wearing a lumbar exoskeleton.