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题名: Feasibility of EMG-Based ANN Controller for a Real-Time Virtual Reality Simulation
作者: Xiong AB(熊安斌) ; Lin GM(林光膜) ; Zhao XG(赵新刚) ; Han JD(韩建达) ; Liu GJ(刘光军)
作者部门: 机器人学研究室
会议名称: 6th IEEE International Conference on E-Learning in Industrial Electronics (ICELIE 2012)
会议日期: October 25 - 28, 2012
会议地点: Montreal, Canada
会议主办者: IEEE Industrial Electronics Society
会议录: 6th IEEE International Conference on E-Learning in Industrial Electronics (ICELIE 2012)
会议录出版者: IEEE
会议录出版地: New York, USA
出版日期: 2012
页码: 6 pp.
收录类别: EI
摘要: Estimation of the joint angle from the surface electromyography (sEMG) is a quite complex task due to the complicated relationship between the kinematical variables and the raw sEMG. In this paper, we build a sEMG-to-motion model with the artificial neural network (ANN) . EMG features, including Integral of absolute value (IA V), Zero crossing (ZC), Auto-regression coefficients (ARC), Median frequency (MDF), are extracted as the input of the ANN, and the output of the ANN is the operator's elbow joint angle and the wrist motion. In addition, a 3D upper extremity model, which is built in SolidW orks and then transformed into MA TLAB, will imitate the operator's motion simultaneously with the estimations of the ANN. Thus, we accomplish a virtual reality system to realize the real-time simulation and validate the effectiveness of the sEMGto- motion model. Experiment results show that the system achieves well in model accuracy, hardware compatibility and real time performance with a small mean square error of 1.921 degrees.
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内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10200
Appears in Collections:机器人学研究室_会议论文

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