Development of Biocooperative Control Strategies for Neuromotor Rehabilitation Robotic Platforms: A Real-Time Embedded Approach for Enhanced Human-Rob
暫譯: 生物合作控制策略在神經運動康復機器平台的開發：增強人機互動的即時嵌入式方法

This book presents the development of a multimodal physiological signal acquisition system and cooperative control strategies for applications in upper-limb robotic rehabilitation. First, it introduces a non-pattern recognition EMG-based platform for hand rehabilitation, demonstrating its strong performance in both gesture recognition accuracy and responsiveness. It also discusses the role of EMG-based visual feedback, showing how real-time visualization of muscle activation enhances user performance during training. In turn, it reports on the validation of a low-cost multimodal acquisition solution using two different real-time biocooperative control strategies. The results demonstrate that the developed low-cost wearable platform, which integrates multiple sensors, wireless communication, and a high-efficiency real-time microcontroller, is highly versatile and configurable, and shows a good signal quality. By addressing two main aspects that limit the adoption of biocooperative systems in clinical rehabilitation settings - hardware affordability and system reliability - this outstanding PhD thesis paves the way to the implementation of real-time biocooperative controls for future applications in robotic rehabilitation.