A Control Method of Power-Assisted Robot for Upper Limb Considering Intention-based Motion by Using sEMG Signal
- A Control Method of Power-Assisted Robot for Upper Limb Considering Intention-based Motion by Using sEMG Signal
- 이재민; 김민규; 고현규; 김기훈
- Intention-based Motion; Interaction; Power-Assisted Robot; sEMG Signal
- Issue Date
- As power-assisted robots such as exoskeleton robot have been widely used in eclectic applications, the robot becomes more interactive than industrial robots. More specifically, the power-assisted robot for rehabilitation requires to enhance power with respect to the intended motion. To do that, the power-assisted robot should recognize which part of interaction is based on
human-intention. In this paper, a new classifier, which consists of force information measured by F/T sensor on the robot and sEMG signals from muscle activation, is proposed to extract human-intention under interaction including external force. The proposed classifier can be applied
to estimate the external force level generated due to the interaction. Based on the proposed classifier, a simple control method to enhance power to assist the intentionbased motion is developed to validate the proposed approach. For the simplicity and clarity of the approach, 1DOF testbed robot is used to demonstrate the proposed approach.
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