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

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dc.contributor.author Artemiadis, PK en
dc.contributor.author Kyriakopoulos, KJ en
dc.date.accessioned 2014-03-01T02:43:34Z
dc.date.available 2014-03-01T02:43:34Z
dc.date.issued 2005 en
dc.identifier.uri http://hdl.handle.net/123456789/31480
dc.subject Electromyographic (EMG) signal en
dc.subject Parameter identification en
dc.subject Robot teleoperation en
dc.subject.other Biceps brachii en
dc.subject.other Electromyographic signal en
dc.subject.other EMG signal en
dc.subject.other Human arm en
dc.subject.other Identification techniques en
dc.subject.other Joint angle en
dc.subject.other Master-slave manipulator en
dc.subject.other Parameter identification en
dc.subject.other Position tracker en
dc.subject.other Robot manipulator en
dc.subject.other Robot teleoperation en
dc.subject.other Robotic manipulators en
dc.subject.other Tele-operations en
dc.subject.other User-dependent en
dc.subject.other Flexible manipulators en
dc.subject.other Identification (control systems) en
dc.subject.other Muscle en
dc.subject.other Remote control en
dc.subject.other Robot applications en
dc.subject.other Intelligent robots en
dc.title Teleoperation of a robot manipulator using EMG signals and a position tracker en
heal.type conferenceItem en
heal.identifier.primary 10.1109/IROS.2005.1545509 en
heal.identifier.secondary 1545509 en
heal.identifier.secondary http://dx.doi.org/10.1109/IROS.2005.1545509 en
heal.publicationDate 2005 en
heal.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. © 2005 IEEE. en
heal.journalName 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS en
dc.identifier.doi 10.1109/IROS.2005.1545509 en
dc.identifier.spage 3480 en
dc.identifier.epage 3485 en


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