EMG-based control of a robot arm using low-dimensional embeddings

Panagiotis K. Artemiadis, Kostas J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


As robots come closer to humans, an efficient humanrobot-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.

Original languageEnglish (US)
Article number5401049
Pages (from-to)393-398
Number of pages6
JournalIEEE Transactions on Robotics
Issue number2
StatePublished - Apr 2010


  • Dimensionality reduction
  • EMG signals
  • Electromyographic (EMG)-based control
  • Neurorobotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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