An EMG-Based Robot Control Scheme Robust to Time-Varying EMG Signal Features
An EMG-Based Robot Control Scheme Robust to Time-Varying EMG Signal Features
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DOI：
10.1109/titb.2010.2040832
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发表时间：
2010-05-01
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。随着机器人在日常生活中的引入，特别是在为有特殊需要的人提供服务方面（即，老年人、有缺陷的人或残疾人），非常需要简单和自然的控制接口。在本文中，肌电图（EMG）信号从人体上肢肌肉被用作用户和机器人手臂之间的控制接口。EMG信号被记录使用表面肌电电极放置在用户的皮肤上，使用户的上肢没有笨重的接口传感器或机械通常在传统的人控系统。建议的接口允许用户控制在真实的时间在3-D空间中的拟人机器人手臂，使用上肢运动估计仅基于EMG记录。此外，所提出的接口是强大的肌电随时间的变化，主要是由肌肉疲劳或收缩水平的调整。该方法的效率进行评估，通过实时实验，包括随机手臂运动在3-D空间与可变的手速度配置文件。
Human-robot control interfaces have received increased attention during the past decades. With the introduction of robots in everyday life, especially in providing services to people with special needs (i.e., elderly, people with impairments, or people with disabilities), there is a strong necessity for simple and natural control interfaces. In this paper, electromyographic (EMG) signals from muscles of the human upper limb are used as the control interface between the user and a robot arm. EMG signals are recorded using surface EMG electrodes placed on the user's skin, making the user's upper limb free of bulky interface sensors or machinery usually found in conventional human-controlled systems. The proposed interface allows the user to control in real time an anthropomorphic robot arm in 3-D space, using upper limb motion estimates based only on EMG recordings. Moreover, the proposed interface is robust to EMG changes with respect to time, mainly caused by muscle fatigue or adjustments of contraction level. The efficiency of the method is assessed through real-time experiments, including random arm motions in the 3-D space with variable hand speed profiles.