A Control Method of Power-Assisted Robot for Upper Limb Considering Intention-based Motion by Using sEMG Signal

Title
A Control Method of Power-Assisted Robot for Upper Limb Considering Intention-based Motion by Using sEMG Signal
Authors
이재민김민규고현규김기훈
Keywords
Intention-based Motion; Interaction; Power-Assisted Robot; sEMG Signal
Issue Date
2014-11
Publisher
URAI2014
Abstract
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.
URI
http://pubs.kist.re.kr/handle/201004/49117
Appears in Collections:
KIST Publication > Conference Paper
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