IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Teleoperation Control of ROS-based Industrial Robot Using EMG Signals

근전도센서를 이용한 ROS기반의 산업용 로봇 원격제어

  • Received : 2020.02.06
  • Accepted : 2020.03.27
  • Published : 2020.04.30
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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.

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References

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