Abstract
This paper presents our work regarding two different applications that use the electromyography sensors incorporated in the Thalmic Labs Myo Armband. The first application is about the HumanMachine Interface (HMI) for controlling an industrial robot bycreating the environment for the user to control a robot’s gripper position just by moving his arm. The second application refers to the real time control of a tracked mobile robot that is built with the Arduino development board. For each application thesystem design and the experimental results are presented.
Highlights
Industrial robots have found their place in a wide range of technological processes, replacing the human operator in performing auxiliary or basic operations
In this case we created a tracked mobile robot which uses two DC motors connected to the L298 motor driver shield which is linked to the Arduino development board. (Fig. 4) This application has a similar architecture to the first, but instead of sending the data to the KUKA KR15, the PC sends the information to the Arduino development board which manipulates the data into sending the suitable power to the DC motors in order to execute movements. (Fig. 2. b.)
Similar research involving a virtual robotic arm created in Unity 3D and controlled with the Myo Armband show that the best way to detect electro activities in muscles is to use the Electromyography Sensors (EMG) sensor
Summary
Industrial robots have found their place in a wide range of technological processes, replacing the human operator in performing auxiliary or basic operations. Industrial robots can be connected with sensors and different tools that could enhance the operation. The corresponding human motions can be detected and recognized by detecting certain muscle contraction patterns, and the detected motion can be remotely duplicated using artificial limbs or robotic hands [3]. In order to analyse the EMG signal, for these applications we have used the Thalmic Labs Myo Armband (Fig. 1) which is an armband that is fixed on the user’s forearm, and by moving the arm and fingers, the MYO armband detects muscle activity signals which are processed and used to control different objects and software. In this paper the main purpose is to establish a communication between the Thalmic Labs Myo Armband and different devices, in order to control them with gestures. We will analyse, using the Myo Armband, how to control the gripper of a KUKA KR15 industrial robot and a tracked mobile robot
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