Command Generation for Mobile Robot by Using EMG Signals Based on FEM Theory

カテゴリ: 研究会(論文単位)

論文No: IIC13122

グループ名: 【D】産業応用部門 産業計測制御研究会

発行日: 2013/03/08

タイトル(英語): Command Generation for Mobile Robot by Using EMG Signals Based on FEM Theory

著者名: 大久保 宏海(横浜国立大学),下野 誠通(横浜国立大学),長谷川 由理(汐田総合病院),櫻井 好美(神奈川県立保健福祉大学),石井 慎一郎(神奈川県立保健福祉大学)

著者名(英語): Ohkubo Hiromi(Yokohama National University),Shimono Tomoyuki(Yokohama National University),Hasegawa Yuri(Ushioda General Hospital),Sakurai Yoshimi(Kanagawa University of Human Services),Ishii Shinichiro(Kanagawa University of Human Services)

キーワード: Motion Control|EMG signals|FEM theory|Command Genaration|Mobile Robot

要約(日本語): This paper proposes the control interface of a robotic wheelchair for sufferers from rheumatism. The proposed interface adopts electromyogram (EMG) signals as input signals for command generation based on functionally different effective muscle (FEM) theory. Sufferers from rheumatism can move not his joints but muscles. Therefore, EMG signals have a potential to become the helpful tool. In addition, FEM theory represents the relation between the direction of the output force at the end effector such as a wrist (or an ankle) and muscles of limbs. Thus, the proposed interface can realize the intuitive operation becomes possible. Experimental results evaluate the utility of the proposed control interface.

原稿種別: 日本語

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