Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Human Arm Motion Tracking based on sEMG Signal Processing

표면 근전도 신호처리 기반 인간 팔 동작의 추종 알고리즘

  • 최영진 (한양대학교 전자컴퓨터공학부) ;
  • 유현재 (한양대학교 대학원 전자전기제어계측공학과)
  • Published : 2007.08.01
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Abstract

This paper proposes the human arm motion tracking algorithm based on the signal processing for surface EMG (electromyogram) sensors attached on both upper arm and shoulder. The signals acquired by using surface EMG sensors are processed with choosing the maximum in a short period, taking the absolute value, and filtering noises out with a low-pass filter. The processed signals are directly used for the motion generation of virtual arm in real time simulator. The virtual arm of simulator has two degrees of freedom and complies with the flexion and extension motions of elbow and shoulder. Also, we show the validity of the suggested algorithms through the experiments.

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References

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