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

Artemiadis, PK; Kyriakopoulos, KJ

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