Journal of Biomedical Engineering Research (대한의용생체공학회:의공학회지)

The Korean Society of Medical and Biological Engineering (대한의용생체공학회)
권호 표지

A Study on Intelligent Trajectory Control for Prosthetic Arm by Pattern Recognition & Force Estimation Using EMG Signals

근전도신호의 패턴인식 및 힘추정을 통한 의수의 지능적 궤적제어에 관한 연구

  • Published : 1994.12.01
Download PDF
⟨ Previous Next ⟩

Abstract

The intelligent trajectory control method that controls moving direction and average velocity for a prosthetic arm is proposed by pattern recognition and force estimations using EMG signals. Also, we propose the real time trajectory planning method which generates continuous accelleration paths using 3 stage linear filters to minimize the impact to human body induced by arm motions and to reduce the muscle fatigue. We use combination of MLP and fuzzy filter for pattern recognition to estimate the direction of a muscle and Hogan's method for the force estimation. EMG signals are acquired by using a amputation simulator and 2 dimensional joystick motion. The simulation results of proposed prosthetic arm control system using the EMG signals show that the arm is effectively followed the desired trajectory depended on estimated force and direction of muscle movements.

Keywords

References

  1. 전자공학회지 v.91-28B-10-10 no.10 신경회로망과 확률모델을 이용한 근전도신호의 패턴분류에 관한 연구 장영건;홍승홍(등)
  2. Proceedings of the 15th Annual Int. Conference of the IEEE EMBS Probabilistic Neural Pattern Classifier and Muscle Force Estimation Y.G.Jang;S.H.Hong(et al.)
  3. Proceedings JTC-CSCC '94 A Study on the Fuzzy Controller for Prosthesis Arm Control using EMG Signals Y.G.Jang;S.H.Hong
  4. IEEE Trans on BME v.29 no.6 EMG pattern analysis and classification for a prosthetic arm George N. Saridis(et al.)
  5. IEEE Trans on Automatic Control v.29 no.4 The control of a prosthetic arm by EMG pattern recognition S.H.Lee;G.N.Saridis
  6. IEEE Trans on BME v.36 no.10 The Development of a Multichannel Time Series Myoprocessor for Simultaneous Limb Function Detection and Muscle Force Estimation R.J.Triolo(et al.)
  7. IEEE Trans on BME v.41 no.2 Single Site Electromyograph Amplitude Esimation E.A.Clancy;Neville Hogan
  8. Preceedings of the 1980 Joint A. Control Conference Mechanical Impedance Control in Assistive Devices and Manipulators N.Hogan
  9. Journal of Dynamic Systems, Measurement & Control The Mathmatics of Coordinated Control of Prosthetic Arm and Manipulators Daniel E. Whitney
  10. IEEE Trans on BME v.26 no.6 Physiology and Mathmatics of Myoelectric Signals Carlo J. De Luca
  11. IEEE Trans on BME v.34 no.9 The EMG-Force Model of Electrically Stimulated Muscle: Dependence on Control Strategy and Predominant Fiber Composition Moshe Solomonow(et al.)