Teleoperation of a robot arm in 2D catching movements using EMG signals and a bio-inspired motion law

Panagiotis K. Artemiadis, Kostas J. Kyriakopoulos

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

4 Scopus citations

Abstract

This paper presents a methodology of robot arm teleoperation, using electromyographic (EMG) signals and a bio-inspired motion law. The methodology is implemented in planar catching movements, in situations that the user reaches and grasps objects lying on a table in front of him. EMG signals from the flexor and extensor muscles of both the elbow and the wrist joint are used to predict the elbow and wrist joint angle. This is done by using two auto-regressive moving average with exogenous output (ARMAX) models, one for each joint. A position tracker is attached in the user's upper arm, before the elbow joint, and is used for the application of the bio-inspired motion law. This law states that the trajectory of the human hand during planar reaching tasks lays on a straight line. Thus, by applying this motion law at the predicted hand trajectory, the errors of the joint angle estimation through the ARMAX model are reduced. The grasping intention of the user, after reaching the target is decoded through a discrimination algorithm based on feature extraction of the EMG signals from the forearm. The experimental results show that the two ARMAX model estimations for the joint angles, in conjunction with the motion law, are able to predict the user's motion with high accuracy, within different target points and various movement velocities.

Original languageEnglish (US)
Title of host publicationProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages41-46
Number of pages6
DOIs
StatePublished - Dec 22 2006
Event1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
Duration: Feb 20 2006Feb 22 2006

Publication series

NameProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume2006

Other

Other1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
CountryItaly
CityPisa
Period2/20/062/22/06

Keywords

  • Auto-regressive model
  • Electromyographic (EMG) signal
  • Robot teleoperation

ASJC Scopus subject areas

  • Engineering(all)

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