Title :
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
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;
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
DOI :
10.1109/ICMA.2006.257524
