EMG-Based Control of a Robot Arm Using Low-Dimensional Embeddings
Author(s)Artemiadis, Panagiotis; Kyriakopoulos, Kostas J.
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As robots come closer to humans, an efficient human-robot-control interface is an utmost necessity. In this paper, electromyographic (EMG) signals from muscles of the human upper limb are used as the control interface between the user and a robot arm. A mathematical model is trained to decode upper limb motion from EMG recordings, using a dimensionality-reduction technique that represents muscle synergies and motion primitives. It is shown that a 2-D embedding of muscle activations can be decoded to a continuous profile of arm motion representation in the 3-D Cartesian space, embedded in a 2-D space. The system is used for the continuous control of a robot arm, using only EMG signals from the upper limb. The accuracy of the method is assessed through real-time experiments, including random arm motions.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
IEEE transactions on robotics
Institute of Electrical and Electronics Engineers / IEEE Robotics and Automation Society
Artemiadis, P.K., and K.J. Kyriakopoulos. “EMG-Based Control Of a Robot Arm Using Low-Dimensional Embeddings.” Robotics, IEEE Transactions On 26.2 (2010) : 393-398. © 2010 IEEE
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INSPEC Accession Number: 11208038