A human-assisting manipulator teleoperated by EMG signals and arm motions

IEEE Transactions on Robotics and Automation Volume 19 Issue 2 Page 210-222 published_at 2003
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Title ( eng )
A human-assisting manipulator teleoperated by EMG signals and arm motions
Fukuda Osamu
Kaneko Makoto
Otsuka Akira
Source Title
IEEE Transactions on Robotics and Automation
Volume 19
Issue 2
Start Page 210
End Page 222
This paper proposes a human-assisting manipulator teleoperated by electromyographic (EMG) signals and arm motions. The proposed method can realize a new master-slave manipulator system that uses no mechanical master controller. A person whose forearm has been amputated can use this manipulator as a personal assistant for desktop work. The control system consists of a hand and wrist control part and an arm control part. The hand and wrist control part selects an active joint in the manipulator's end-effector and controls it based on EMG pattern discrimination. The arm control part measures the position of the operator's wrist joint or the amputated part using a three-dimensional position sensor, and the joint angles of the manipulator's arm, except for the end-effector part, are controlled according to this position, which, in turn, corresponds to the position of the manipulator's joint. These control parts enable the operator to control the manipulator intuitively. The distinctive feature of our system is to use a novel statistical neural network for EMG pattern discrimination. The system can adapt itself to changes of the EMG patterns according to the differences among individuals, different locations of the electrodes, and time variation caused by fatigue or sweat. Our experiments have shown that the developed system could learn and estimate the operator's intended motions with a high degree of accuracy using the EMG signals, and that the manipulator could be controlled smoothly. We also confirmed that our system could assist the amputee in performing desktop work.
human-assisting manipulator
neural network
pattern discrimination
Mechanical engineering [ 530 ]
Resource Type journal article
Date of Issued 2003
Copyright (c) 2003 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 1042-296X
[DOI] 10.1109/TRA.2003.808873
[DOI] http://dx.doi.org/10.1109/TRA.2003.808873