Development of an EMG-controlled mobile robot

Bisi, Stefano, Luca De, Luca, Shrestha, Bikash, Gandhi, Vaibhav ORCID: https://orcid.org/0000-0003-1121-7419 and Yang, Zhijun ORCID: https://orcid.org/0000-0003-2615-4297 (2018) Development of an EMG-controlled mobile robot. Robotics, 7 (3) . pp. 1-13. ISSN 2218-6581 (doi:10.3390/robotics7030036)

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Abstract

This paper presents the development of a Robot Operating System (ROS)-based mobile robot control using electromyography (EMG) signals. The proposed robot’s structure is specifically designed to provide modularity and is controlled by a Raspberry Pi 3 running on top of an ROS application and a Teensy microcontroller. The EMG muscle commands are sent to the robot with hand gestures that are captured using a Thalmic Myo Armband and recognized using a k-Nearest Neighbour (k-NN) classifier. The robot’s performance is evaluated by navigating it through specific paths while solely controlling it through the EMG signals and using the collision avoidance approach. Thus, this paper aims to expand the research on the topic, introducing a more accurate classification system with a wider set of gestures, hoping to come closer to a usable real-life application

Item Type: Article
Additional Information: Article number = 36
Research Areas: A. > School of Science and Technology
Item ID: 26732
Notes on copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Depositing User: Vaibhav Gandhi
Date Deposited: 07 Jun 2019 12:45
Last Modified: 03 Aug 2019 08:37
URI: https://eprints.mdx.ac.uk/id/eprint/26732

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