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Mitsubishi RV-2AJ Robot Controled by Electromyographic Signals

Abstract:

Currently, the interaction of human beings and robots is increasingly expanding in everyday life with the introduction of robots in the service area, and robots for medical applications, although robots appeared in the 50s from the last century. For this reason, the human-robot communication interface plays a very important role when introducing these mechanisms in the indicated areas. The largest number of jobs related to robot control propose the use of interfaces to map robot actions using a joystick or a haptic device. However, the use of these elements requires training of the personnel working with the robots. For the teleoperation of robots, natural interfaces have been proposed that allow generating commands from bioelectrical signals of the human body. The signals, which have greater acceptance in the development of this type of applications are surface electromyographic signals (sEMG). Additionally, due to the use of surface electrodes, the acquisition of sEMG signals does not require invasive techniques; however, since they are exposed to different sources of noise and interference, they require special processing before being used for the generation of control signals for robots.