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

Panagiotis K. Artemiadis, Kostas J. Kyriakopoulos

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

25 Scopus citations

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
PublisherIEEE Computer Society
Pages1003-1008
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
StatePublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

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

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  • Cite this

    Artemiadis, P. K., & 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. 1003-1008). [1545509] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545509