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). Article 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

@inproceedings{24cb942de7f347c8a4c6b2b9a3114f46,

title = "Teleoperation of a robot manipulator using EMG signals and a position tracker",

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.",

keywords = "Electromyographic (EMG) signal, Parameter identification, Robot teleoperation",

author = "Artemiadis, {Panagiotis K.} and Kyriakopoulos, {Kostas J.}",

year = "2005",

doi = "10.1109/IROS.2005.1545509",

language = "English (US)",

isbn = "0780389123",

series = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

publisher = "IEEE Computer Society",

pages = "1003--1008",

booktitle = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

}

TY - GEN

T1 - Teleoperation of a robot manipulator using EMG signals and a position tracker

AU - Artemiadis, Panagiotis K.

AU - Kyriakopoulos, Kostas J.

PY - 2005

Y1 - 2005

N2 - 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.

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.

KW - Electromyographic (EMG) signal

KW - Parameter identification

KW - Robot teleoperation

UR - http://www.scopus.com/inward/record.url?scp=79957987872&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79957987872&partnerID=8YFLogxK

U2 - 10.1109/IROS.2005.1545509

DO - 10.1109/IROS.2005.1545509

M3 - Conference contribution

AN - SCOPUS:79957987872

SN - 0780389123

SN - 9780780389120

T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

SP - 1003

EP - 1008

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

PB - IEEE Computer Society

ER -

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

Abstract

Publication series

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this