EMG-based Control Scheme with SVM Classifier for Assistive Robot Arm

Li Zhi Liao, Yi Li Tseng, Hsin Han Chiang, Wei Yen Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Establishing an appropriate control technique with high accuracy has become the central issue for robotic applications to achieve anthropomorphic functions. The electromyography (EMG) method, which approaches various human motions by adjusting signals in the manipulator control scheme, is especially gaining popularity among assistive robotics. In this study, an EMG-based classification method is incorporated to control an assistive robot arm and perform interaction in human arm movements. The system is implemented based on a support-vector machine (SVM); it classifies motions of upper human limbs according to EMG signals recorded from the brachioradialis, the biceps and the anterior deltoid as the input features. With the proposed method, six categories of human arm movements can be identified, and the classification results can thus be remotely transmitted to control an assistive robot to mimic motions of the human arm. The performance of the proposed classification method was evaluated using 72 segments in 5 second EMG signals from two subject. The overall accuracy rate can reach 94% based on the selected EMG features for each measured muscle. The results suggest the importance of feature selection according to the morphology of EMG waveforms recorded from different muscle bundles. The performance of the proposed method has been quantitatively evaluated, and an assistive robot arm can be remotely controlled using EMG signals with a high accuracy rate.

Original languageEnglish
Title of host publication2018 International Automatic Control Conference, CACS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538662786
DOIs
Publication statusPublished - 2019 Jan 9
Event2018 International Automatic Control Conference, CACS 2018 - Taoyuan, Taiwan
Duration: 2018 Nov 42018 Nov 7

Publication series

Name2018 International Automatic Control Conference, CACS 2018

Conference

Conference2018 International Automatic Control Conference, CACS 2018
CountryTaiwan
CityTaoyuan
Period18/11/418/11/7

Fingerprint

Electromyography
Support vector machines
Support Vector Machine
Classifiers
Robot
Classifier
Robots
Muscle
Motion
Robotics
Deltoid
High Accuracy
Manipulator
Waveform
Feature Selection
Bundle
Classify
Human
Manipulators
Feature extraction

Keywords

  • Assisted robot arm
  • Electromyography (EMG)
  • Support vector machine (SVM)

ASJC Scopus subject areas

  • Control and Optimization
  • Modelling and Simulation

Cite this

Liao, L. Z., Tseng, Y. L., Chiang, H. H., & Wang, W. Y. (2019). EMG-based Control Scheme with SVM Classifier for Assistive Robot Arm. In 2018 International Automatic Control Conference, CACS 2018 [8606762] (2018 International Automatic Control Conference, CACS 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACS.2018.8606762

EMG-based Control Scheme with SVM Classifier for Assistive Robot Arm. / Liao, Li Zhi; Tseng, Yi Li; Chiang, Hsin Han; Wang, Wei Yen.

2018 International Automatic Control Conference, CACS 2018. Institute of Electrical and Electronics Engineers Inc., 2019. 8606762 (2018 International Automatic Control Conference, CACS 2018).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Liao, LZ, Tseng, YL, Chiang, HH & Wang, WY 2019, EMG-based Control Scheme with SVM Classifier for Assistive Robot Arm. in 2018 International Automatic Control Conference, CACS 2018., 8606762, 2018 International Automatic Control Conference, CACS 2018, Institute of Electrical and Electronics Engineers Inc., 2018 International Automatic Control Conference, CACS 2018, Taoyuan, Taiwan, 18/11/4. https://doi.org/10.1109/CACS.2018.8606762
Liao LZ, Tseng YL, Chiang HH, Wang WY. EMG-based Control Scheme with SVM Classifier for Assistive Robot Arm. In 2018 International Automatic Control Conference, CACS 2018. Institute of Electrical and Electronics Engineers Inc. 2019. 8606762. (2018 International Automatic Control Conference, CACS 2018). https://doi.org/10.1109/CACS.2018.8606762
Liao, Li Zhi ; Tseng, Yi Li ; Chiang, Hsin Han ; Wang, Wei Yen. / EMG-based Control Scheme with SVM Classifier for Assistive Robot Arm. 2018 International Automatic Control Conference, CACS 2018. Institute of Electrical and Electronics Engineers Inc., 2019. (2018 International Automatic Control Conference, CACS 2018).
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