EMG-based teleoperation of a robot arm in planar catching movements using ARMAX model and trajectory monitoring techniques

Artemiadis, PK; Kyriakopoulos, KJ

dc.contributor.author	Artemiadis, PK	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:44:02Z
dc.date.available	2014-03-01T02:44:02Z
dc.date.issued	2006	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31630
dc.subject	Human Motion Analysis	en
dc.subject	Robot Arm	en
dc.subject	Auto Regressive Moving Average	en
dc.subject.other	Angle measurement	en
dc.subject.other	Electromyography	en
dc.subject.other	Joints (anatomy)	en
dc.subject.other	Motion control	en
dc.subject.other	Muscle	en
dc.subject.other	Velocity measurement	en
dc.subject.other	Extensor muscles	en
dc.subject.other	Flexors	en
dc.subject.other	Human motion analysis	en
dc.subject.other	Planar catching tasks	en
dc.subject.other	Robotic arms	en
dc.title	EMG-based teleoperation of a robot arm in planar catching movements using ARMAX model and trajectory monitoring techniques	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2006.1642196	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2006.1642196	en
heal.identifier.secondary	1642196	en
heal.publicationDate	2006	en
heal.abstract	This paper presents a methodology of teleoperating a robot arm, using electromyographic (EMG) signals and a trajectory monitoring technique based on human motion analysis. EMG signals from the flexor and extensor muscles of the elbow joint are used to predict the human elbow joint angle, using an auto-regressive moving average with exogenous output (ARMAX) model. A position tracker is attached in the user upper arm, before the elbow joint. It has been identified from previous works on human physiology that the trajectory of the human hand during planar catching tasks lays on a straight line. This motion law is used in order to monitor and refine the trajectory of the human hand that is predicted through EMG and the ARMAX model. The experimental results show that the ARMAX model estimation for the elbow angle, in conjunction with the trajectory monitoring technique, is able to predict the user motion with high accuracy, within different target points unknown to the system, and various hand velocities. ©2006 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2006.1642196	en
dc.identifier.volume	2006	en
dc.identifier.spage	3244	en
dc.identifier.epage	3249	en