Motion control of mobile robot by using myoelectric signals based on functionally different effective muscle theory

Abstract

This paper proposes the control interface of robotic wheelchair by combination use of electromyogram (EMG) signals and functionally different effective muscle (FEM) theory. One of the conventional control interfaces of the robotic wheelchair is a joystick. However, there is many people unable to operate a joystick like sufferers from rheumatism. Sufferers from rheumatism can not move his joints but move muscles. Therefore, EMG signals have potential to become the helpful interface for sufferers from rheumatism. FEM theory represents the relation between the direction of output force at the end effector such as a wrist (or an ankle) and the collaborative control by 3 pairs of 6 muscles composed of the mono-articular muscles and the bi-articular muscles of human arm (or leg). An experiment using the mobile independent two wheel driven robot shows the validity of the proposed interface.