Title :
Model of myoelectric arm with obstacle detection system using fuzzy logic
Author :
Kutilek, Patrik ; Smrcka, Pavel ; Hybl, Jan
Author_Institution :
Fac. of Biomed. Eng., Czech Tech. Univ. in Prague, Kladno, Czech Republic
Abstract :
This paper presents a new system designed for application in upper extremity prosthesis. Artificial upper limb with our system is experimental robot arm controlled by EMG signals and signals from obstacle detection sensors. The multi-sensor system is based on ultrasonic sensors and motor load sensors for detecting the obstacles and loads applied to the actuators. The motor load sensors indicate physical contact with an object, and fuzzy expert system identifies the approximate magnitude and direction of an external contact force. The multi-sensor system can identify distance of obstacles and collisions in 3D space. The used robotic arm is a model of promising prosthetic arm and its control system and used methods were designed and verified by MatLab/Simulink.
Keywords :
artificial limbs; collision avoidance; electromyography; fuzzy control; fuzzy logic; fuzzy systems; medical robotics; ultrasonic transducers; EMG signals; MatLab/Simulink; approximate magnitude; artificial upper limb; control system; experimental robot arm; external contact force direction; fuzzy expert system; fuzzy logic; motor load sensors; multisensor system; myoelectric arm model; obstacle detection sensor; obstacle detection system; obstacle distance; physical contact; prosthetic arm; ultrasonic sensors; upper extremity prosthesis; Actuators; Force; Prosthetics; Robot sensing systems; Sensor systems; fuzzy logic; motor load sensors; prosthetic arm; sensor system;
Conference_Titel :
Applied Electronics (AE), 2013 International Conference on
Conference_Location :
Pilsen
Print_ISBN :
978-80-261-0166-6
