Teleoperation of a robot manipulator using EMG signals and a position tracker

Artemiadis, PK; Kyriakopoulos, KJ

dc.contributor.author	Artemiadis, PK	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:43:34Z
dc.date.available	2014-03-01T02:43:34Z
dc.date.issued	2005	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31480
dc.subject	Electromyographic (EMG) signal	en
dc.subject	Parameter identification	en
dc.subject	Robot teleoperation	en
dc.subject.other	Biceps brachii	en
dc.subject.other	Electromyographic signal	en
dc.subject.other	EMG signal	en
dc.subject.other	Human arm	en
dc.subject.other	Identification techniques	en
dc.subject.other	Joint angle	en
dc.subject.other	Master-slave manipulator	en
dc.subject.other	Parameter identification	en
dc.subject.other	Position tracker	en
dc.subject.other	Robot manipulator	en
dc.subject.other	Robot teleoperation	en
dc.subject.other	Robotic manipulators	en
dc.subject.other	Tele-operations	en
dc.subject.other	User-dependent	en
dc.subject.other	Flexible manipulators	en
dc.subject.other	Identification (control systems)	en
dc.subject.other	Muscle	en
dc.subject.other	Remote control	en
dc.subject.other	Robot applications	en
dc.subject.other	Intelligent robots	en
dc.title	Teleoperation of a robot manipulator using EMG signals and a position tracker	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/IROS.2005.1545509	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IROS.2005.1545509	en
heal.identifier.secondary	1545509	en
heal.publicationDate	2005	en
heal.abstract	A methodology for a robotic manipulator teleoperation is presented. The proposed method can realize a new master-slave manipulator system that uses no mechanical master controller but electromyographic (EMG) signals from the muscles of a human arm. EMG signals are acquired from biceps brachii, main responsible muscle for elbow flexion. The robot elbow is controlled using joint angle computed from EMG signal during smooth forearm motion, while the shoulder of the robot is controlled by a position tracker placed on the user's arm. Identification techniques are used to approximate the user-dependent parameters of the model used to compute the elbow angle based on EMG signals. © 2005 IEEE.	en
heal.journalName	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS	en
dc.identifier.doi	10.1109/IROS.2005.1545509	en
dc.identifier.spage	3480	en
dc.identifier.epage	3485	en