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

Panagiotis Artemiadis, Kostas J. Kyriakopoulos

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

30 Citations (Scopus)

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 - IEEE International Conference on Robotics and Automation
Pages3244-3249
Number of pages6
Volume2006
DOIs
StatePublished - 2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Other

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

Fingerprint

Remote control
Trajectories
Robots
Monitoring
Physiology
Muscle

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

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

EMG-based teleoperation of a robot arm in planar catching movements using ARMAX model and trajectory monitoring techniques. / Artemiadis, Panagiotis; Kyriakopoulos, Kostas J.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006 2006. p. 3244-3249 1642196.

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

Artemiadis, P & Kyriakopoulos, KJ 2006, EMG-based teleoperation of a robot arm in planar catching movements using ARMAX model and trajectory monitoring techniques. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2006, 1642196, pp. 3244-3249, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1642196
Artemiadis P, Kyriakopoulos KJ. EMG-based teleoperation of a robot arm in planar catching movements using ARMAX model and trajectory monitoring techniques. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006. 2006. p. 3244-3249. 1642196 https://doi.org/10.1109/ROBOT.2006.1642196
Artemiadis, Panagiotis ; Kyriakopoulos, Kostas J. / EMG-based teleoperation of a robot arm in planar catching movements using ARMAX model and trajectory monitoring techniques. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006 2006. pp. 3244-3249
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