EMG-based robotic arm controller
Date of Publication
2010
Document Type
Bachelor's Thesis
Degree Name
Bachelor of Science in Manufacturing Engineering and Management
College
Gokongwei College of Engineering
Department/Unit
Manufacturing Engineering and Management
Thesis Adviser
Arthur Pius P. Santiago
Defense Panel Chair
Elmer Jose P. Dadios
Defense Panel Member
Homer S. Co
Giovanni L. Fabian
Abstract/Summary
In robotic arm control, the robot-user interface is undoubtedly a component of high importance. The interface defines the degree of control the user has over the machine. Traditional controller devices include buttons, levers and knobs. These interfaces rely on a tangible form creating an indirect connection resulting in a hypothetical barrier between the user and the machine to be controlled. One way of direct control is by determining the articulation of the human arm through EMG signal acquisition and processing and using these signals in robotic arm control. Different muscles are used to drive the four degrees of freedom of the CRS robot. EMG control is achieved by detecting the electrical impulses generated when the muscles of the upper limb are neurologically activated. Sensor pads are placed on the arm of the user above the optimal detection points for the muscles responsible for the limb's articulation. Electrical potential detected by the pads is then passed through filters and amplifiers to reduce noise and increase the voltage levels high enough to be detected by a PIC microcontroller. A PIC microcontroller converts the Analogue signal to digital bytes and sends the information to a PC via serial port. Instrumentation software, LabVIEW, then sorts the signals and performs calculations to determine the kinematic relation of the muscle force and robotic arm movement. Upon conversion of the muscle force to link values, LabVIEW then sends these values via a second serial port to the A255 controller.
Abstract Format
html
Language
English
Format
Accession Number
TU15341
Shelf Location
Archives, The Learning Commons, 12F, Henry Sy Sr. Hall
Physical Description
viii, 140 leaves : ill. (some col.) ; 28 cm.
Keywords
Electromyography; Robotics; Robots--Control systems; Computer interfaces--Design and construction
Recommended Citation
Angeles, D., Castillo, A., Cheng, J., & So, M. (2010). EMG-based robotic arm controller. Retrieved from https://animorepository.dlsu.edu.ph/etd_bachelors/14606
