Title :
The Design and Implementation of Arm Wrestling Robot
Author :
Song, Quanjun ; Nie, Yuman ; Qiu, LianKui ; Lei, Jianhe ; Ge, Yunjian
Author_Institution :
Inst. of Intelligent Machines, Chinese Acad. of Sci., Hefei
Abstract :
In this paper, we develop a 2-DOF robot system for arm wrestling with human. By using the sensor system, we analyze the changes in surface electromyographic (EMG) signal associated with V, a, angle of players response to forced actions. The joint elbow torque is estimated by artificial neural network. We also propose a humanoid algorithm using torque estimated via ANN and the effectiveness of the method is confirmed
Keywords :
control system synthesis; electromyography; humanoid robots; manipulators; neurocontrollers; sport; torque control; arm wrestling robot design; artificial neural network; humanoid algorithm; joint elbow torque; sensor system; surface electromyographic signal; Artificial neural networks; Displays; Elbow; Force sensors; Humans; Intelligent robots; Intelligent sensors; Robot sensing systems; Robotics and automation; Torque; ANN; Arm wrestling robot; EMG;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713706
