Intuitive Robot Control Using Surface EMG and Accelerometer Signals
This paper proposes a method of remotely controlling robots with arm gestures using surface electromyography (EMG) and accelerometer sensors attached to the operator’s wrists. The EMG and accelerometer sensors receive signals from the arm gestures of the operator and infer the corresponding movements to execute the command to control the robot. The movements of the robot include moving forward and backward and turning left and right. The accuracy is over 99% and movements can be controlled in real time.
[1] Nakajima, H., Brave, S., Maldonado, H., Arao, M., Morishima, Y.,
Yamada, R., Nass, C., Kawaji, S., “Toward an actualization of social
intelligence in human and robot collaborative system,”2004 IEEE/RSJ
International Conference on, vol. 4, pp. 3238-3243, Sep. 2004.
[2] Garcia, E.; Jimenez, M.A., De Santos, P.G., Armada, M, "The evolution
of robotics research," Robotics & Automation Magazine, IEEE, vol. 14,
no. 1, pp. 90-103, Mar. 2007.
[3] Asfour, T.,Gyarfas, F., Azad, P.,Dillmann, R., "Imitation learning of
dual-arm manipulation tasks in humanoid robots," Humanoid Robots, 6th
IEEE-RAS International Conference, pp. 40-47, Dec. 2006.
[4] Luo, R.C., Lin, M.-H.,Scherp, R.S., "Dynamic multi-sensor data fusion
system for intelligent robots," IEEE Journal of Robotics and Automation,
vol. 4, no. 4, pp. 386-396, Aug. 1988.
[5] Luo, R.C., Su, K.L.,Shen, S.H., Tsai, K.H., "Networked intelligent robots
through the Internet: issues and opportunities," Proceedings of the IEEE,
vol. 91, no. 3, pp. 371-382, Mar. 2003.
[6] Nitzan, D., "Development of intelligent robots: Achievements and
issues," IEEE Journal of Robotics and Automation, vol. 1, no. 1, pp. 3-13,
Mar. 1985.
[7] Eiji, N.,Sei, N., "Leg-wheel robot: A futuristic mobile platform for
forestry industry," Advanced Robotics, 1993. "'Can Robots Contribute to
Preventing Environmental Deterioration?" Proceedings, 1993
IEEE/Tsukuba International Workshop, p. 109-112.
[8] Matsumoto, O.,Kajita, S.,Saigo, M.,Tani, K., "Dynamic trajectory control
of passing over stairs by a biped type leg-wheeled robot with nominal
reference of static gait," Intelligent Robots and Systems, 1998.
Proceedings, 1998 IEEE/RSJ International Conference, vol. 1, pp.
406-412, Oct. 1998.
[9] Rhee, K.W., You, K.J., Shin H.C., “Recognition of finger motion
combining sEMG and gyrosensor signals,” Smart IT Application 2010,
Sept. 2010.
[10] Kreyszig, E. Advanced Engineering Mathematics -9/E, Wiley, Feb. 2006.
[1] Nakajima, H., Brave, S., Maldonado, H., Arao, M., Morishima, Y.,
Yamada, R., Nass, C., Kawaji, S., “Toward an actualization of social
intelligence in human and robot collaborative system,”2004 IEEE/RSJ
International Conference on, vol. 4, pp. 3238-3243, Sep. 2004.
[2] Garcia, E.; Jimenez, M.A., De Santos, P.G., Armada, M, "The evolution
of robotics research," Robotics & Automation Magazine, IEEE, vol. 14,
no. 1, pp. 90-103, Mar. 2007.
[3] Asfour, T.,Gyarfas, F., Azad, P.,Dillmann, R., "Imitation learning of
dual-arm manipulation tasks in humanoid robots," Humanoid Robots, 6th
IEEE-RAS International Conference, pp. 40-47, Dec. 2006.
[4] Luo, R.C., Lin, M.-H.,Scherp, R.S., "Dynamic multi-sensor data fusion
system for intelligent robots," IEEE Journal of Robotics and Automation,
vol. 4, no. 4, pp. 386-396, Aug. 1988.
[5] Luo, R.C., Su, K.L.,Shen, S.H., Tsai, K.H., "Networked intelligent robots
through the Internet: issues and opportunities," Proceedings of the IEEE,
vol. 91, no. 3, pp. 371-382, Mar. 2003.
[6] Nitzan, D., "Development of intelligent robots: Achievements and
issues," IEEE Journal of Robotics and Automation, vol. 1, no. 1, pp. 3-13,
Mar. 1985.
[7] Eiji, N.,Sei, N., "Leg-wheel robot: A futuristic mobile platform for
forestry industry," Advanced Robotics, 1993. "'Can Robots Contribute to
Preventing Environmental Deterioration?" Proceedings, 1993
IEEE/Tsukuba International Workshop, p. 109-112.
[8] Matsumoto, O.,Kajita, S.,Saigo, M.,Tani, K., "Dynamic trajectory control
of passing over stairs by a biped type leg-wheeled robot with nominal
reference of static gait," Intelligent Robots and Systems, 1998.
Proceedings, 1998 IEEE/RSJ International Conference, vol. 1, pp.
406-412, Oct. 1998.
[9] Rhee, K.W., You, K.J., Shin H.C., “Recognition of finger motion
combining sEMG and gyrosensor signals,” Smart IT Application 2010,
Sept. 2010.
[10] Kreyszig, E. Advanced Engineering Mathematics -9/E, Wiley, Feb. 2006.
@article{"International Journal of Electrical, Electronic and Communication Sciences:65507", author = "Kiwon Rhee and Kyung-Jin You and Hyun-Chool Shin", title = "Intuitive Robot Control Using Surface EMG and Accelerometer Signals", abstract = "This paper proposes a method of remotely controlling robots with arm gestures using surface electromyography (EMG) and accelerometer sensors attached to the operator’s wrists. The EMG and accelerometer sensors receive signals from the arm gestures of the operator and infer the corresponding movements to execute the command to control the robot. The movements of the robot include moving forward and backward and turning left and right. The accuracy is over 99% and movements can be controlled in real time.
", keywords = "EMG, accelerometer, K-nn, entropy.", volume = "7", number = "10", pages = "1376-4", }
