Design and Resarch of EMG-based Upper limb Motion Synchronization Robotic Arm System

• Main Authors: Kai-Lung Bai, 白鎧綸
• Other Authors: Pi-Cheng Tung
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/84582236606831921478

碩士 === 國立中央大學 === 機械工程研究所 === 96 === This thesis aims to develop an EMG-based upper limb motion synchronization robotic arm system which enables an upper limb robotic arm to move synchronously with the tester. This system contains four sections: (a) the design of mechanism; (b) the design of electronic driver circuits; (c) the motion control of robotic arm; (d) the analyses of EMG signals and the estimation of muscle strength which used EMG signals In this thesis, we combine four sections and realize algorithms with a digital signal processor (TMS320F2812). We use a digital signal processor (TMS320F2812) to measure the EMG signals of biceps and triceps, which imply the human subject’s intention. We utilize a band-pass filter to process the EMG signals and feature extraction methods convert EMG signals to variances (VAR).Then we employ an estimator to estimate the muscle strength of the tester’s forearm. Therefore, the estimated muscle strength can be used as a torque command for robotic arm system. We also use a digital signal processor (TMS320F2812) to realize the torque control of robotic arm system. So the robotic arm can achieve the desired motion of the tester. In the future, this system can be transferred into an exoskeletal robot for human motion support, especially for those physically weak ones.