Artemiadis Panagiotis K, Kyriakopoulos Kostas J
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139 USA.
IEEE Trans Inf Technol Biomed. 2010 May;14(3):582-8. doi: 10.1109/TITB.2010.2040832. Epub 2010 Feb 17.
Human-robot control interfaces have received increased attention during the past decades. With the introduction of robots in everyday life, especially in providing services to people with special needs (i.e., elderly, people with impairments, or people with disabilities), there is a strong necessity for simple and natural control interfaces. 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. EMG signals are recorded using surface EMG electrodes placed on the user's skin, making the user's upper limb free of bulky interface sensors or machinery usually found in conventional human-controlled systems. The proposed interface allows the user to control in real time an anthropomorphic robot arm in 3-D space, using upper limb motion estimates based only on EMG recordings. Moreover, the proposed interface is robust to EMG changes with respect to time, mainly caused by muscle fatigue or adjustments of contraction level. The efficiency of the method is assessed through real-time experiments, including random arm motions in the 3-D space with variable hand speed profiles.
在过去几十年中，人机控制界面受到了越来越多的关注。随着机器人在日常生活中的引入，特别是在为有特殊需求的人群（即老年人、有损伤的人或残疾人）提供服务方面，对于简单自然的控制界面有着强烈的需求。在本文中，来自人类上肢肌肉的肌电（EMG）信号被用作用户与机器人手臂之间的控制界面。使用放置在用户皮肤上的表面肌电电极来记录EMG信号，使得用户的上肢无需传统人工控制系统中常见的笨重接口传感器或机械装置。所提出的界面允许用户仅基于EMG记录的上肢运动估计，在三维空间中实时控制拟人化机器人手臂。此外，所提出的界面对于主要由肌肉疲劳或收缩水平调整引起的EMG随时间的变化具有鲁棒性。通过实时实验评估该方法的效率，包括在三维空间中具有可变手部速度分布的随机手臂运动。
