Fig. 6: Observation of an RPNI amputee using a wireless electromyography system in the dynamic case.

a Photograph of the suggested sEMG system for patients with RPNI lower leg amputation. We attached the proposed electrode to the TA and GC muscles of the amputee, who wore a liner and a robotic leg, and finally installed the wireless system. b Muscle signals measured in dynamic situations. The patient walked on flat land, uphill, and stairs, and signals were accordingly obtained. c, d EMG signals obtained from the TA and GC muscles. The threshold of the TA signal and GC signal is selected and used to drive the robot. e, f EMG signals obtained from the GC muscle. The system helps with walking by utilizing muscle signals that exceed the threshold while walking with IMU and FSR sensors built into the robotic leg. g Protocol of the walking support system. The robotic leg detects mechanical motion through IMU, ENCODER, and FSR sensors and biological signals through the proposed sEMG sensor.