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

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Title

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

Creator

Kyriakopoulos, KJ (EN)

Artemiadis, PK (EN)

Type

journalArticle (EN)

Τμήμα έκδοσης
Publication in journal (EN)

Άρθρο
Scientific article (EN)

Issued

2014-03-01T01:33:21Z

2010 (EN)

Year

2010 (EL)

Description

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)

Scientific field

Robotics (EN)

Επιστήμες Μηχανικού και Τεχνολογία ▶ Επιστήμη Ηλεκτρολόγου Μηχανικού, Ηλεκτρονικού Μηχανικού, Μηχανικού Η/Υ
Robotics (EN)

Subject

Dimensionality reduction (EN)

MUSCLE (EN)

SIGNALS (EN)

neurorobotics (EN)

electromyographic (EMG)-based control (EN)

EMG signals (EN)

Journal

IEEE TRANSACTIONS ON ROBOTICS (EN)