Title :
Prosthetic 6-DOF arm controlled by EMG signals and multi-sensor system
Author :
Kutilek, Patrik ; Hybl, Jan ; Kauler, Jan ; Viteckova, Slavka
Author_Institution :
Fac. of Biomed. Eng., Czech Tech. Univ. in Prague, Kladno, Czech Republic
Abstract :
The paper describes a new method and system, designed for application to upper extremity prosthesis. Artificial upper limb with our new system is a robot arm controlled by EMG signals and its movements is controlled and corrected by set of ultrasonic and infrared sensors. By multisensory system is creating and updating information about robot environment. The multi-sensor system is based on ultrasonic sensors and infrared sensors. The multi-sensor system can identify temperature and distance of objects in 3D space and control system can chooses an adequate reaction based on information from the sensor system and fuzzy logic. The system is designed as an assistive technology for disabled people. The robotic arm is a model of promising prosthetic arm and its control system and used methods were designed and verified by MATLAB/Simulink.
Keywords :
electromyography; fuzzy logic; handicapped aids; infrared detectors; manipulators; medical robotics; prosthetics; ultrasonic devices; 3D space; EMG signals; artificial upper limb; assistive technology; disabled people; fuzzy logic; infrared sensors; multisensory system; prosthetic 6-DOF arm; robot arm; ultrasonic sensors; upper extremity prosthesis; Actuators; Electromyography; Expert systems; Robot sensing systems; Sensor systems; EMG; fuzzy logic; multi-sensor system; prosthetic arm;
Conference_Titel :
MECHATRONIKA, 2012 15th International Symposium
Conference_Location :
Prague
Print_ISBN :
978-1-4673-0979-0
