Title :
Real-time control strategy for EMG-drive meal assistance robot — my spoon
Author :
Zhang, Xiu ; Wang, Xingyu ; Wang, Bei ; Sugi, Takenao ; Nakamura, Masatoshi
Author_Institution :
Dept. of Autom., East China Univ. of Sci. & Technol., Shanghai
Abstract :
The paper presents an ongoing investigation of applying finite state machines (FSM) to drive a meal assistance robot based on electromyogram (EMG) signals. An adapting single-threshold method on EMG power is proposed to recognize different elevation gestures. Predefined control commands are output by FSM based on the extracted EMG features, and used to operate the robot. The performance of control mode is tested in efficiency and comfortableness by both subjective and objective indices. And the high performance of the EMG-control meal assistance robot makes it feasible for users with upper limbs motor disabilities.
Keywords :
electromyography; feature extraction; finite state machines; gesture recognition; handicapped aids; medical robotics; medical signal processing; EMG-drive meal assistance robot; electromyogram signal; feature extraction; finite state machine; gesture recognition; real time control strategy; single threshold method; upper limbs motor disability; Automata; Automatic control; Circuits; Control systems; Electromyography; Feature extraction; Muscles; Robotics and automation; Robots; Sampling methods; Electromyogram; Finite state machine; Meal assistance robot; Onset detection;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694607
