Design, Fabrication and Application of ARm Wrestling Robot

Author

Gao, Zhen ; Song, Quanjun ; Lei, Jianhe ; Nie, Yuman ; Chen, Feng ; Ge, Yunjian

Author_Institution

Inst. of Intelligent Machines, Chinese Acad. of Sci., Hefei

fYear

2006

fDate

25-28 June 2006

Firstpage

1893

Lastpage

1897

Abstract

This paper presents a novel 2 DOF robotic arm wrestling system integrated with mechanical arm, elbow/wrist force sensors, servo motor, encoder, 3-D MEMS accelerometer, and USB camera. The arm wrestling robot (AWR) is used to play arm wrestling game with human for entertainment. Based on the force testing equipment, we acquire the data of surface electromyographic (EMG) signals form target muscle when a real player competes with the robot. Wavelet transform and neural network are applied to extract the characteristics of EMG signals and estimate the joint torque. Experiment results have proved the validation of the wavelet neural network method

Keywords

control system synthesis; electromyography; manipulators; neural nets; torque; wavelet transforms; 2 DOF robotic arm wrestling system; force testing equipment; joint torque; surface electromyographic signals; wavelet neural network; wavelet transform; Elbow; Electromyography; Fabrication; Force sensors; Micromechanical devices; Neural networks; Robot sensing systems; Servomechanisms; Servomotors; Wrist; AWR; EMG; Neural network; Wavelet transform;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257524

Filename

4026383