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An EMG-Based Robot Control Scheme Robust to Time-Varying EMG Signal Features

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dc.contributor.author Artemiadis, PK en
dc.contributor.author Kyriakopoulos, KJ en
dc.date.accessioned 2014-03-01T01:32:43Z
dc.date.available 2014-03-01T01:32:43Z
dc.date.issued 2010 en
dc.identifier.issn 1089-7771 en
dc.identifier.uri https://dspace.lib.ntua.gr/xmlui/handle/123456789/20205
dc.subject Electromyographic (EMG) control en
dc.subject muscle fatigue en
dc.subject neurorobotics en
dc.subject.classification Computer Science, Information Systems en
dc.subject.classification Computer Science, Interdisciplinary Applications en
dc.subject.classification Mathematical & Computational Biology en
dc.subject.classification Medical Informatics en
dc.subject.other MUSCLE en
dc.subject.other MOVEMENTS en
dc.subject.other FATIGUE en
dc.title An EMG-Based Robot Control Scheme Robust to Time-Varying EMG Signal Features en
heal.type journalArticle en
heal.identifier.primary 10.1109/TITB.2010.2040832 en
heal.identifier.secondary http://dx.doi.org/10.1109/TITB.2010.2040832 en
heal.language English en
heal.publicationDate 2010 en
heal.abstract 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. en
heal.publisher IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC en
heal.journalName IEEE TRANSACTIONS ON INFORMATION TECHNOLOGY IN BIOMEDICINE en
dc.identifier.doi 10.1109/TITB.2010.2040832 en
dc.identifier.isi ISI:000278538300006 en
dc.identifier.volume 14 en
dc.identifier.issue 3 en
dc.identifier.spage 582 en
dc.identifier.epage 588 en


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