中文摘要：

这篇论文涉及一个控制方法因为有 electromyography (EMG ) 的一个皮骨骼脚关节发信号。人的脚关节和皮骨骼脚关节的 EMG 信号被介绍。然后，一个控制方法被建议用 EMG 信号控制皮骨骼脚关节。神经网络模型这里使用了的前馈控制由四层组成并且使用训练算法的背繁殖。从神经网络的输出信号被小浪变换处理。最后，从输出信号产生的控制订单被传递给马达控制器并且驱使皮骨骼移动。通过实验，脚关节运动的神经网络预言的平等被给关联系数评估。建议方法罐头精确地控制脚关节关节的运动，这从试验性的结果被显示出。

英文摘要：

This paper is concerned with a control method for an exoskeleton ankle with electromyography （EMG） signals. The EMG signals of human ankle and the exoskeleton ankle are introduced. Then a control method is proposed to control the exoskeleton ankle using the EMG signals. The feed-forward neural network model applied here is composed of four layers and uses the back-propagation training algorithm. The output signals from neural network are processed by the wavelet transform. Finally the control orders generated from the output signals are passed to the motor controller and drive the exoskeleton to move. Through experiments, the equality of neural network prediction of ankle movement is evaluated by giving the correlation coefficient. It is shown from the experimental results that the proposed method can accurately control the movement of ankle joint.