An EEG-Driven Exoskeleton Rehabilitation Robot for Upper Limb Recovery Using Empirical Mode Decomposition: A Response Surface Methodology Approach

Abstract— Stroke rehabilitation often requires advanced assistive systems to restore upper-limb functionality. This study presents an electroencephalography (EEG)-driven, six-degree-of-freedom robotic exoskeleton designed to support motor recovery through real-time brain–computer interface control. EEG signals were de-noised using wavelet packet decomposition combined with a Gaussian Mixture Model for improved clarity and feature retention. Extracted features were classified using a Random Forest algorithm, achieving an average accuracy of 85% in detecting motor intentions. The proposed preprocessing led to a 12% increase in SNR and a 15% reduction in RMSE compared to baseline methods. Response Surface Methodology was employed to optimize key kinematic factors joint angle, movement duration, and limb velocity demonstrating significant effects on EEG signal fidelity and control precision. The results highlight the potential of integrating adaptive machine learning with exoskeleton systems to enhance neuro-rehabilitation outcomes.