A Switching Regime Model for the EMG-Based Control of a Robot Arm
A Switching Regime Model for the EMG-Based Control of a Robot Arm
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DOI：
10.1109/tsmcb.2010.2045120
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发表时间：
2011-02-01
影响因子：
--
通讯作者：
Kyriakopoulos, Kostas J.
中科院分区：
文献类型：
--
作者：
Artemiadis, Panagiotis K.;Kyriakopoulos, Kostas J.
在过去的几十年中，人机控制界面受到了越来越多的关注。这些接口越来越多地使用直接来自人类的信号，因为有一个简单和自然的控制界面的强烈必要性。在本文中，肌电图（EMG）信号从人体上肢的肌肉被用作用户和机器人手臂之间的控制界面。切换机制模型被用来解码的11个肌肉的EMG活动在3-D空间中的手臂运动的连续表示。切换状态模型用于克服基于EMG的控制系统的主要困难，即，EMG记录与手臂运动之间的关系的非线性，以及EMG信号相对于时间的非平稳性。所提出的接口允许用户在真实的时间控制在3-D空间中的拟人机器人手臂。该方法的效率进行评估，通过四个人进行随机手臂运动的实时实验。
Human-robot control interfaces have received increased attention during the last decades. These interfaces increasingly use signals coming directly from humans since there is a strong necessity for simple and natural control interfaces. In this paper, electromyographic (EMG) signals from the muscles of the human upper limb are used as the control interface between the user and a robot arm. A switching regime model is used to decode the EMG activity of 11 muscles to a continuous representation of arm motion in the 3-D space. The switching regime model is used to overcome the main difficulties of the EMG-based control systems, i.e., the nonlinearity of the relationship between the EMG recordings and the arm motion, as well as the nonstationarity of EMG signals with respect to time. The proposed interface allows the user to control in real time an anthropomorphic robot arm in the 3-D space. The efficiency of the method is assessed through real-time experiments of four persons performing random arm motions.