Title :
An EMG-based force control system for prosthtic arms
Author :
Moradi, Maryam ; Hashtrudi-Zaad, Keyvan ; Mountjoy, Katherine ; Morin, Evelyn
Author_Institution :
Dept. of Electr. & Comput. Eng., Queen´´s Univ., Kingston, ON
Abstract :
This paper proposes a novel methodology for the control of prosthetic arms. The proposed controller predicts the intended forces at the tip of the prosthetic arm using an artificial neural network fed with electromyogram signals from the residual arm muscles and kinematic data from the prosthetic arm joint. The desired predicted force is then implemented at the prosthetic arm tip using a classic robot force control strategy. The proposed controller is evaluated on healthy subjects using a master-slave telerobotic test-bed.
Keywords :
electromyography; force control; medical robotics; neural nets; prosthetics; robot kinematics; telerobotics; EMG-based force control system; artificial neural network; classic robot force control strategy; electromyogram signals; kinematic data; master-slave telerobotic test-bed; prosthetic arms; residual arm muscles; Arm; Artificial neural networks; Force control; Kinematics; Master-slave; Muscles; Neural prosthesis; Robots; Telerobotics; Testing; Artificial neural networks; Electromyogram (EMG); Explicit force control; Force observer; Impedance control; Prosthetic arm;
Conference_Titel :
Electrical and Computer Engineering, 2008. CCECE 2008. Canadian Conference on
Conference_Location :
Niagara Falls, ON
Print_ISBN :
978-1-4244-1642-4
Electronic_ISBN :
0840-7789
DOI :
10.1109/CCECE.2008.4564841