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 -