EMG-based teleoperation of a robot arm using low-dimensional representation

Abstract— In robot teleoperation scenarios, the interface between the user and the robot is undoubtedly of high importance. In this paper, electromyographic (EMG) signals from muscles of the human upper limb are used as the control interface between the user and a remote robot arm. The proposed interface consists of surface EMG electrodes, placed at the user’s skin at several locations on the arm, letting the user’s upper limb free of bulky interface sensors or machinery usually found in conventional teleoperation systems. The motion of the human upper limb entails the activation of a large number of muscles (i.e. more than 30 muscles, not including finger movements). Moreover, the human arm has 7 degrees of freedom (DoFs) suggesting a wide variety of motions. Therefore, the mapping between these two high-dimensional data (i.e. the muscles activation and the motion of the human arm), is an extremely challenging issue. For this reason, a novel methodology is proposed here, where ...

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Panagiotis K. Artemiadis, Kostas J. Kyriakopoulos
• Keywords: Human Arm, IROS 2007, Muscles Activation, Robotics, Upper Limb