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http://dx.doi.org/10.14372/IEMEK.2020.15.2.87

Teleoperation Control of ROS-based Industrial Robot Using EMG Signals  

Jeon, Se-Yun (Kumoh National Institute of Technology)
Park, Bum Yong (Kumoh National Institute of Technology)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.15, no.2, 2020 , pp. 87-94 More about this Journal
Abstract
This paper introduces a method to control an industrial robot arm to imitate the movement of the human arm and hand using electromyography (EMG) signals. The proposed method is implemented on the UR3 robot that is a popular industrial robot and a MYO armband that measure the EMG signals generated by human muscles. The communications for the UR3 robot and the MYO armband are integrated in the robot operating system (ROS) that is a middle-ware to develop robot systems easily. The movement of the human arm and hand is detected by the MYO armband, which is utilized to recognize and to estimate the speed of the movement of the operator's arm and the motion of the operator's hand. The proposed system can be easily used when human's detailed movement is required in the environment where human can't work. An experiments have been conducted to verify the performance of the proposed method using the teleoperation of the UR3 robot.
Keywords
Industrial robot; ROS; EMG; Teleoperation;
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