TY - JOUR
T1 - A switching regime model for the emg-based control of a robot arm
AU - Artemiadis, Panagiotis K.
AU - Kyriakopoulos, Kostas J.
N1 - Funding Information:
Manuscript received May 28, 2009; revised October 19, 2009; accepted February 9, 2010. Date of publication April 15, 2010; date of current version January 14, 2011. This work was supported in part by the European Commission through contract Neurobotics (FP6-IST-001917) Project and in part by the European Union–European Social Fund (75%) and the Greek Ministry of Development–General Secretariat for Research and Technology (GSRT; 25%). This paper was recommended by Associate Editor D. Y. Lee.
PY - 2011/2
Y1 - 2011/2
N2 - Humanrobot control interfaces have received increased attention during the last decades. These interfaces increasingly use signals coming directly from humans since there is a strong necessity for simple and natural control interfaces. In this paper, electromyographic (EMG) signals from the muscles of the human upper limb are used as the control interface between the user and a robot arm. A switching regime model is used to decode the EMG activity of 11 muscles to a continuous representation of arm motion in the 3-D space. The switching regime model is used to overcome the main difficulties of the EMG-based control systems, i.e., the nonlinearity of the relationship between the EMG recordings and the arm motion, as well as the nonstationarity of EMG signals with respect to time. The proposed interface allows the user to control in real time an anthropomorphic robot arm in the 3-D space. The efficiency of the method is assessed through real-time experiments of four persons performing random arm motions.
AB - Humanrobot control interfaces have received increased attention during the last decades. These interfaces increasingly use signals coming directly from humans since there is a strong necessity for simple and natural control interfaces. In this paper, electromyographic (EMG) signals from the muscles of the human upper limb are used as the control interface between the user and a robot arm. A switching regime model is used to decode the EMG activity of 11 muscles to a continuous representation of arm motion in the 3-D space. The switching regime model is used to overcome the main difficulties of the EMG-based control systems, i.e., the nonlinearity of the relationship between the EMG recordings and the arm motion, as well as the nonstationarity of EMG signals with respect to time. The proposed interface allows the user to control in real time an anthropomorphic robot arm in the 3-D space. The efficiency of the method is assessed through real-time experiments of four persons performing random arm motions.
KW - Electromyographic (EMG) control
KW - neurorobotics
KW - switching model
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U2 - 10.1109/TSMCB.2010.2045120
DO - 10.1109/TSMCB.2010.2045120
M3 - Article
C2 - 20403787
AN - SCOPUS:79551689662
SN - 1083-4419
VL - 41
SP - 53
EP - 63
JO - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
JF - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IS - 1
M1 - 5447613
ER -