EMG-Based Control of a Robot Arm Using Low-Dimensional Embeddings

Artemiadis, PK; Kyriakopoulos, KJ

dc.contributor.author	Artemiadis, PK	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:33:21Z
dc.date.available	2014-03-01T01:33:21Z
dc.date.issued	2010	en
dc.identifier.issn	1552-3098	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/20393
dc.subject	Dimensionality reduction	en
dc.subject	electromyographic (EMG)-based control	en
dc.subject	EMG signals	en
dc.subject	neurorobotics	en
dc.subject.classification	Robotics	en
dc.subject.other	MUSCLE	en
dc.subject.other	SIGNALS	en
dc.title	EMG-Based Control of a Robot Arm Using Low-Dimensional Embeddings	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/TRO.2009.2039378	en
heal.identifier.secondary	http://dx.doi.org/10.1109/TRO.2009.2039378	en
heal.language	English	en
heal.publicationDate	2010	en
heal.abstract	As robots come closer to humans, an efficient human-robot-control interface is an utmost necessity. 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. A mathematical model is trained to decode upper limb motion from EMG recordings, using a dimensionality-reduction technique that represents muscle synergies and motion primitives. It is shown that a 2-D embedding of muscle activations can be decoded to a continuous profile of arm motion representation in the 3-D Cartesian space, embedded in a 2-D space. The system is used for the continuous control of a robot arm, using only EMG signals from the upper limb. The accuracy of the method is assessed through real-time experiments, including random arm motions.	en
heal.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC	en
heal.journalName	IEEE TRANSACTIONS ON ROBOTICS	en
dc.identifier.doi	10.1109/TRO.2009.2039378	en
dc.identifier.isi	ISI:000276272500016	en
dc.identifier.volume	26	en
dc.identifier.issue	2	en
dc.identifier.spage	393	en
dc.identifier.epage	398	en