Abstract
In order to realize the intuitive control of robot arms, many researchers have studied methods of using surface electromyography(sEMG). However, difference in the structure of human and robot makes these methods complex and difficult. Thus, we have focused on the musculoskeletal robot arm which have similar structure to the human arm. In this paper, we propose a method to control a musculoskeletal robot arm driven by pneumatic artificial muscles(PAMs) using sEMG. We have developed a method to estimate the inner pressure of the PAMs from sEMG of the muscles when the robot arm takes a similar posture to the human arm. Then we verified the validity of the proposed method by controlling a 1-DOF robot arm driven by two PAMs using sEMG during movement of human wrist.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
