Teleoperation of a robot manipulator using EMG signals and a position tracker

Panagiotis Artemiadis, Kostas J. Kyriakopoulos

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

24 Citations (Scopus)

Abstract

A methodology for a robotic manipulator teleoperation is presented. The proposed method can realize a new master-slave manipulator system that uses no mechanical master controller but electromyographic (EMG) signals from the muscles of a human arm. EMG signals are acquired from biceps brachii, main responsible muscle for elbow flexion. The robot elbow is controlled using joint angle computed from EMG signal during smooth forearm motion, while the shoulder of the robot is controlled by a position tracker placed on the user's arm. Identification techniques are used to approximate the user-dependent parameters of the model used to compute the elbow angle based on EMG signals.

Original languageEnglish (US)
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages3480-3485
Number of pages6
DOIs
StatePublished - 2005
Externally publishedYes
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: Aug 2 2005Aug 6 2005

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period8/2/058/6/05

Fingerprint

Remote control
Manipulators
Muscle
Robots
Robotics
Controllers

Keywords

  • Electromyographic (EMG) signal
  • Parameter identification
  • Robot teleoperation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Artemiadis, P., & Kyriakopoulos, K. J. (2005). Teleoperation of a robot manipulator using EMG signals and a position tracker. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 3480-3485). [1545509] https://doi.org/10.1109/IROS.2005.1545509

Teleoperation of a robot manipulator using EMG signals and a position tracker. / Artemiadis, Panagiotis; Kyriakopoulos, Kostas J.

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 3480-3485 1545509.

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

Artemiadis, P & Kyriakopoulos, KJ 2005, Teleoperation of a robot manipulator using EMG signals and a position tracker. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1545509, pp. 3480-3485, IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, Edmonton, AB, Canada, 8/2/05. https://doi.org/10.1109/IROS.2005.1545509
Artemiadis P, Kyriakopoulos KJ. Teleoperation of a robot manipulator using EMG signals and a position tracker. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 3480-3485. 1545509 https://doi.org/10.1109/IROS.2005.1545509
Artemiadis, Panagiotis ; Kyriakopoulos, Kostas J. / Teleoperation of a robot manipulator using EMG signals and a position tracker. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. pp. 3480-3485
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