Control of anthropomorphic teleoperator fingers using surface electromyograms

Author

Gupta, Vineet ; Reddy, Narender P.

Author_Institution

Dept. of Biomed. Eng., Akron Univ., OH, USA

Volume

3

fYear

1997

fDate

30 Oct-2 Nov 1997

Firstpage

965

Abstract

Natural and synergistic control systems for anthropomorphic teleoperators can be developed using direct biological signals. A computer model of a two-finger teleoperator was developed and controlled using surface electromyography (EMG) from the flexor digitorum superficialis during flexion-extension of the index finger. The results of the study revealed a linear relationship between the RMS EMG and the flexion-extension of the finger model. The RMS error in the system was 0.22°-2.75°. Therefore, surface EMG can be used as a direct biocontrol for teleoperators and in virtual reality (VR) applications

Keywords

biocontrol; control system analysis computing; electromyography; medical signal processing; telecontrol; virtual reality; RMS error; anthropomorphic teleoperator finger control; biological signals; direct biocontrol; flexor digitorum superficialis; index finger extension; index finger flexion; surface electromyography; synergistic control systems; virtual reality applications; Anthropomorphism; Biological control systems; Biological system modeling; Biology computing; Computer errors; Control systems; Electromyography; Fingers; Teleoperators; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 1997. Proceedings of the 19th Annual International Conference of the IEEE

Conference_Location

Chicago, IL

ISSN

1094-687X

Print_ISBN

0-7803-4262-3

Type

conf

DOI

10.1109/IEMBS.1997.756503

Filename

756503