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

Panagiotis K. Artemiadis; Kostas J. Kyriakopoulos

doi:10.1109/IROS.2005.1545509

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

Panagiotis K. Artemiadis, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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.

Original language	English (US)
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Publisher	IEEE Computer Society
Pages	1003-1008
Number of pages	6
ISBN (Print)	0780389123, 9780780389120
DOIs	https://doi.org/10.1109/IROS.2005.1545509
State	Published - 2005

Publication series

Name	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

Electromyographic (EMG) signal
Parameter identification
Robot teleoperation

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

Access to Document

10.1109/IROS.2005.1545509

Cite this

Artemiadis, P. K., & Kyriakopoulos, K. J. (2005). Teleoperation of a robot manipulator using EMG signals and a position tracker. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1003-1008). [1545509] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545509

Teleoperation of a robot manipulator using EMG signals and a position tracker. / Artemiadis, Panagiotis K.; Kyriakopoulos, Kostas J.
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society, 2005. p. 1003-1008 1545509 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Artemiadis, PK & Kyriakopoulos, KJ 2005, Teleoperation of a robot manipulator using EMG signals and a position tracker. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1545509, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, IEEE Computer Society, pp. 1003-1008. https://doi.org/10.1109/IROS.2005.1545509

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AB - 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.

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

Abstract

Publication series

Keywords

ASJC Scopus subject areas

Access to Document

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