Document Detail

An EMG-based robot control scheme robust to time-varying EMG signal features.
MedLine Citation:
PMID:  20172839     Owner:  NLM     Status:  In-Process    
Human-robot control interfaces have received increased attention during the past decades. With the introduction of robots in everyday life, especially in providing services to people with special needs (i.e., elderly, people with impairments, or people with disabilities), there is a strong necessity for simple and natural control interfaces. In this paper, electromyographic (EMG) signals from muscles of the human upper limb are used as the control interface between the user and a robot arm. EMG signals are recorded using surface EMG electrodes placed on the user's skin, making the user's upper limb free of bulky interface sensors or machinery usually found in conventional human-controlled systems. The proposed interface allows the user to control in real time an anthropomorphic robot arm in 3-D space, using upper limb motion estimates based only on EMG recordings. Moreover, the proposed interface is robust to EMG changes with respect to time, mainly caused by muscle fatigue or adjustments of contraction level. The efficiency of the method is assessed through real-time experiments, including random arm motions in the 3-D space with variable hand speed profiles.
Panagiotis K Artemiadis; Kostas J Kyriakopoulos
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Publication Detail:
Type:  Journal Article     Date:  2010-02-17
Journal Detail:
Title:  IEEE transactions on information technology in biomedicine : a publication of the IEEE Engineering in Medicine and Biology Society     Volume:  14     ISSN:  1558-0032     ISO Abbreviation:  IEEE Trans Inf Technol Biomed     Publication Date:  2010 May 
Date Detail:
Created Date:  2010-07-27     Completed Date:  -     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  9712259     Medline TA:  IEEE Trans Inf Technol Biomed     Country:  United States    
Other Details:
Languages:  eng     Pagination:  582-8     Citation Subset:  IM    
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139 USA.
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