HEAL DSpace

A Switching Regime Model for the EMG-Based Control of a Robot Arm

DSpace/Manakin Repository

Show simple item record

dc.contributor.author Artemiadis, PK en
dc.contributor.author Kyriakopoulos, KJ en
dc.date.accessioned 2014-03-01T01:35:02Z
dc.date.available 2014-03-01T01:35:02Z
dc.date.issued 2011 en
dc.identifier.issn 1083-4419 en
dc.identifier.uri https://dspace.lib.ntua.gr/xmlui/handle/123456789/20949
dc.subject Electromyographic (EMG) control en
dc.subject neurorobotics en
dc.subject switching model en
dc.subject.classification Automation & Control Systems en
dc.subject.classification Computer Science, Artificial Intelligence en
dc.subject.classification Computer Science, Cybernetics en
dc.subject.other MACHINE INTERFACE en
dc.subject.other MUSCLE FATIGUE en
dc.subject.other SIGNALS en
dc.subject.other PRIMITIVES en
dc.subject.other PROSTHESES en
dc.subject.other MOTIONS en
dc.subject.other HAND en
dc.title A Switching Regime Model for the EMG-Based Control of a Robot Arm en
heal.type journalArticle en
heal.identifier.primary 10.1109/TSMCB.2010.2045120 en
heal.identifier.secondary http://dx.doi.org/10.1109/TSMCB.2010.2045120 en
heal.language English en
heal.publicationDate 2011 en
heal.abstract Human-robot control interfaces have received increased attention during the last decades. These interfaces increasingly use signals coming directly from humans since there is a strong necessity for simple and natural control interfaces. In this paper, electromyographic (EMG) signals from the muscles of the human upper limb are used as the control interface between the user and a robot arm. A switching regime model is used to decode the EMG activity of 11 muscles to a continuous representation of arm motion in the 3-D space. The switching regime model is used to overcome the main difficulties of the EMG-based control systems, i.e., the nonlinearity of the relationship between the EMG recordings and the arm motion, as well as the nonstationarity of EMG signals with respect to time. The proposed interface allows the user to control in real time an anthropomorphic robot arm in the 3-D space. The efficiency of the method is assessed through real-time experiments of four persons performing random arm motions. en
heal.publisher IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC en
heal.journalName IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS en
dc.identifier.doi 10.1109/TSMCB.2010.2045120 en
dc.identifier.isi ISI:000286388300005 en
dc.identifier.volume 41 en
dc.identifier.issue 1 en
dc.identifier.spage 53 en
dc.identifier.epage 63 en


Files in this item

Files Size Format View

There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record