EMG-based teleoperation of a robot arm in planar catching movements using ARMAX model and trajectory monitoring techniques

Panagiotis K. Artemiadis, Kostas J. Kyriakopoulos

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

33 Scopus citations

Abstract

This paper presents a methodology of teleoperating a robot arm, using electromyographic (EMG) signals and a trajectory monitoring technique based on human motion analysis. EMG signals from the flexor and extensor muscles of the elbow joint are used to predict the human elbow joint angle, using an auto-regressive moving average with exogenous output (ARMAX) model. A position tracker is attached in the user upper arm, before the elbow joint. It has been identified from previous works on human physiology that the trajectory of the human hand during planar catching tasks lays on a straight line. This motion law is used in order to monitor and refine the trajectory of the human hand that is predicted through EMG and the ARMAX model. The experimental results show that the ARMAX model estimation for the elbow angle, in conjunction with the trajectory monitoring technique, is able to predict the user motion with high accuracy, within different target points unknown to the system, and various hand velocities.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages3244-3249
Number of pages6
DOIs
StatePublished - Dec 27 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Artemiadis, P. K., & Kyriakopoulos, K. J. (2006). EMG-based teleoperation of a robot arm in planar catching movements using ARMAX model and trajectory monitoring techniques. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 3244-3249). [1642196] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642196