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's 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 …