Assessment of muscle fatigue using a probabilistic framework for an EMG-based robot control scenario

Panagiotis K. Artemiadis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

Human-robot control interfaces have received increased attention during the last decades. With the introduction of robots in every-day life, especially in developing services for people with special needs (i.e. elderly or impaired persons), there is a strong necessity of 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, letting 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 three dimensional (3D) space, by decoding EMG signals to motion. However, since EMG changes due to muscle fatigue are present in this kind of control interface, a probabilistic framework has been developed, which can detect in real-time the muscle fatigue level. By complying to those fatigue-related signal changes, the proposed method can provide accurate decoding of motion through long periods of time. The system is used for the continuous control of a robot arm in 3D space, using only EMG signals from the upper limb. The method is tested for a long period of operation, proving that muscle fatigue does not affect the decoder accuracy. The efficiency of the method is assessed through real-time experiments including random arm motions in 3D space.

Original languageEnglish (US)
Title of host publication8th IEEE International Conference on BioInformatics and BioEngineering, BIBE 2008
DOIs
StatePublished - Dec 1 2008
Event8th IEEE International Conference on BioInformatics and BioEngineering, BIBE 2008 - Athens, Greece
Duration: Oct 8 2008Oct 10 2008

Publication series

Name8th IEEE International Conference on BioInformatics and BioEngineering, BIBE 2008

Other

Other8th IEEE International Conference on BioInformatics and BioEngineering, BIBE 2008
CountryGreece
CityAthens
Period10/8/0810/10/08

ASJC Scopus subject areas

  • Biotechnology
  • Bioengineering

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    Artemiadis, P. K., & Kyriakopoulos, K. J. (2008). Assessment of muscle fatigue using a probabilistic framework for an EMG-based robot control scenario. In 8th IEEE International Conference on BioInformatics and BioEngineering, BIBE 2008 [4696753] (8th IEEE International Conference on BioInformatics and BioEngineering, BIBE 2008). https://doi.org/10.1109/BIBE.2008.4696753