Real-time control strategy for EMG-drive meal assistance robot — my spoon

Author

Zhang, Xiu ; Wang, Xingyu ; Wang, Bei ; Sugi, Takenao ; Nakamura, Masatoshi

Author_Institution

Dept. of Autom., East China Univ. of Sci. & Technol., Shanghai

fYear

2008

Firstpage

800

Lastpage

803

Abstract

The paper presents an ongoing investigation of applying finite state machines (FSM) to drive a meal assistance robot based on electromyogram (EMG) signals. An adapting single-threshold method on EMG power is proposed to recognize different elevation gestures. Predefined control commands are output by FSM based on the extracted EMG features, and used to operate the robot. The performance of control mode is tested in efficiency and comfortableness by both subjective and objective indices. And the high performance of the EMG-control meal assistance robot makes it feasible for users with upper limbs motor disabilities.

Keywords

electromyography; feature extraction; finite state machines; gesture recognition; handicapped aids; medical robotics; medical signal processing; EMG-drive meal assistance robot; electromyogram signal; feature extraction; finite state machine; gesture recognition; real time control strategy; single threshold method; upper limbs motor disability; Automata; Automatic control; Circuits; Control systems; Electromyography; Feature extraction; Muscles; Robotics and automation; Robots; Sampling methods; Electromyogram; Finite state machine; Meal assistance robot; Onset detection;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems, 2008. ICCAS 2008. International Conference on

Conference_Location

Seoul

Print_ISBN

978-89-950038-9-3

Electronic_ISBN

978-89-93215-01-4

Type

conf

DOI

10.1109/ICCAS.2008.4694607

Filename

4694607