TY - GEN
T1 - EMG-based teleoperation of a robot arm in planar catching movements using ARMAX model and trajectory monitoring techniques
AU - Artemiadis, Panagiotis K.
AU - Kyriakopoulos, Kostas J.
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
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U2 - 10.1109/ROBOT.2006.1642196
DO - 10.1109/ROBOT.2006.1642196
M3 - Conference contribution
AN - SCOPUS:33845649502
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3244
EP - 3249
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -