Development of a Knee Exoskeleton for Rehabilitation Based EMG and IMU Sensor Feedback

단계별 무릎 재활을 위한 근전도 및 관성센서 피드백 기반 외골격 시스템 개발

  • Kim, Jong Un (Department of Biomedical Engineering, Konyang University) ;
  • Kim, Ga Eul (Department of Biomedical Engineering, Konyang University) ;
  • Ji, Yeong Beom (Department of Biomedical Engineering, Konyang University) ;
  • Lee, A Ram (Department of Biomedical Engineering, Konyang University) ;
  • Lee, Hyun Ju (Department of Physical Therapy, Konyang University) ;
  • Tae, Ki Sik (Department of Biomedical Engineering, Konyang University)
  • Received : 2019.10.10
  • Accepted : 2019.10.22
  • Published : 2019.12.31


The number of knee-related disease patients and knee joint surgeries is steadily increasing every year, and for knee rehabilitation training for these knee joint patients, it is necessary to strengthen the muscle of vastus medialis and quadriceps femoris. However, because of the cost and time-consuming difficulties of receiving regular hospital treatment in the course of knee rehabilitation, we developed knee exoskeleton using rapid prototype for knee rehabilitation with feedback from the electromyogram (EMG) and inertia motion unit (IMU) sensor. The modules was built on the basis of EMG and an IMU sensor applied complementary filter, measuring muscle activity in the vastus medialis and the range of joint operation of the knee, and then performing the game based on this measurement. The IMU sensor performed up to 97.2% accuracy in experiments with ten subjects. The functional game contents consisted of an exergaming platform based on EMG and IMU for the real-time monitoring and performance assessment of personalized isometric and isotonic exercises. This study combined EMG and IMU-based functional game with knee rehabilitation training to enable voluntary rehabilitation training by providing immediate feedback to patients through biometric information, thereby enhancing muscle strength efficiency of rehabilitation.


Supported by : 한국연구재단


  1. Korean Statistical Information Service. "Rank by frequency of disease surgery". 2013-2016.
  2. Kang DH, Yu IY, Lee GC. The Effects of Knee Extensor Flexor Muscle Strength and Joint Position Sense in Squat Exercise on Variety Surface. Journal of the Korean Society of Integrative Medicine. 2013;1(2):47-57.
  3. Park SJ, Song GS, Lee HJ, Tae KS. Development and Usability Evaluation of a Functional Game Based on Inertial Sensor for Knee Rehabilitation in Total Knee Arthroplasty Patient. Journal of rehabilitation welfare engineering & assistive technology. 2019;13(2):127-33.
  4. Lewek M, Rudolph K, Axe M, Snyder-Mackler L. The effect of insufficient quadriceps strength on gait after anterior cruciate ligament reconstruction. Clinical Biomechanics 2002;17(1):56-63.
  5. Meira EP, Brumitt J. Influence of the hip on patients with patellofemoral pain syndrome: a systematic review. Sports Health. 2011;3(5):455-65.
  6. Neumann DN. Kinesiology of the Musculoskeletal System 3rd ed. Mosby. 2016.
  7. Shin SY, Jung YH, Lee KH, Kang JK. Muscle Strength Following Short Term Isometric And Isotonic Exercise. Journal of Korean Physical Therapy Science. 1999;6(4):167-71.
  8. Dursun N, Dursun E, Kilic Z. Electromyographic biofeedback-controlled exercise versus conservative care for patellofemoral pain syndrome. Archives of physical medicine and rehabilitation. 2001;82(2):1692-5.
  9. Burke JW, Mcneill MDJ, Charles DK, Morrow PJ, Crosbie JH, McDonough SM. Optimizing engagement strategies for stroke rehabilitation using serious games. Journal the visual computer. 2009;25(12):1085-99.
  10. Duncan PW, Horner RD, Reker DM, Samsa GP, Hoenig H, Hamilton B, Laclair BJ, Dudley TK. Adherence to post-acute rehabilitation guidelines is associated with functional recovery in stroke. Stroke. 2002;33(1):167-77.
  11. Beeker MH. Patient Adherence to prescribed therapies. Medical Care. 1985;23(5):539-55.
  12. Rego PA, Moreira PM, Reis LP. Serious games for rehabilitation: A survey and a classification towards a taxonomy, Information systems and technologies (CISTI) 5th conference, 2010.
  13. Christian S, Thomas P, Hannes K, Full body interaction for serious games in motor rehabilitation. Proceedings of the 2nd augmented human international conference. 2011.
  14. Saponas TS, Tan DS, Morris D, Balakrishnan R, Turner J, Landay A. Enabling Always-Available Input with Muscle-Computer Interfaces. Proceedings of the 22nd annual ACM Symposium on User Interface Software and Technology. 2009;167-76.
  15. Nadia GH, Karen GM, Vicente PV, Armando AS, Laura CA. Development of an EMG-based exergaming system for isometric muscle training and its effectiveness to enhance motivation, performance and muscle strength. International Journal of Human-Computer Studies. 2019;124:44-55.
  16. Ganesan Y, Gobee S, Durairajah V. Development of an Upper Limb Exoskeleton for Rehabilitation with Feedback from EMG and IMU Sensor. Procedia Computer Science. 2015;76:53-9.
  17. Thomas S, Jorg R, Thomas S. IMU-Based Joint Angle Measurement for Gait Analysis. Sensors. 2014;14:6891-909.