Configuration of the McKibben Muscles and Action Intention Detection for an Artificial Assistant Suit

The artificial assistant suit is a kind of assistant equipment, which is actuated by McKibben muscles and can be put on the human upper body to help the upper limbs act. It can detect the action intention of the human's upper limb automatically and output definite force complying with the intention. The configuration of the McKibben muscles is introduced in detail. How to detect the action intention by the surface electromyography signal is discussed deeply and the related experiments and their results are given.