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

Artemiadis, PK; Kyriakopoulos, KJ

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