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

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

研究成果: 書貢獻/報告類型會議貢獻

2 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題2018 International Automatic Control Conference, CACS 2018
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9781538662786
DOIs
出版狀態已發佈 - 2019 一月 9
事件2018 International Automatic Control Conference, CACS 2018 - Taoyuan, 臺灣
持續時間: 2018 十一月 42018 十一月 7

出版系列

名字2018 International Automatic Control Conference, CACS 2018

會議

會議2018 International Automatic Control Conference, CACS 2018
國家臺灣
城市Taoyuan
期間18/11/418/11/7

ASJC Scopus subject areas

  • Control and Optimization
  • Modelling and Simulation

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  • 引用此

    Liao, L. Z., Tseng, Y. L., Chiang, H. H., & Wang, W. Y. (2019). EMG-based Control Scheme with SVM Classifier for Assistive Robot Arm. 於 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