Sterowanie manipulatorem nasobnym w oparciu o sygnały EMG *

Control method of the wearable manipulator based on EMG signals

Author: Jarosław Jankowski, Klaudiusz Ziemek

Mechanik nr 07/2018 - Różne

STRESZCZENIE: Integracja człowieka z egzoszkieletem – tak, aby poprawnie odzwierciedlał on zamiary użytkownika w zakresie ruchu kończyny górnej – wymaga zastosowania odpowiedniej metody sterowania, zawierającej algorytm wykrywania intencji. W artykule przedstawiono założenia dotyczące budowy egzoszkieletu kończyny górnej, a także proponowaną procedurę badawczą oraz wstępnie opracowane metody sterowania manipulatora wspomagającego, bazujące na analizie charakterystyki sygnału elektromiograficznego (EMG) oraz zastosowaniu sieci neuronowych.

SŁOWA KLUCZOWE: egzoszkielet, metoda sterowania, EMG

ABSTRACT: Human integration with the exoskeleton, so that it correctly reflects the intentions of the user, requires the use of an appropriate control method containing an intent detection algorithm. The article presents the assumptions concerning the construction of the upper limb exoskeleton, the preliminary research procedure and the pre-developed methods of controlling the assistance manipulator based on the analysis of the electromyographic signal (EMG) characteristics and the use of neural networks.

KEYWORDS: exoskeleton, control method, EMG

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