肌电信号控制仿生手的研究

Study on Real-time Control of Humanoid Robot Using EMGs

研究的目标是利用肌电信号实时控制仿生手的运动。使用所设计的系统,实现了肌电信号采集、处理和对所设计的仿生手的控制。通过试验验证了肌电信号的统计特性,用不同操作者的不同肌肉来控制和训练仿生手抓物体,试验结果表明仿生手的失误率小于0.5%。

The objective of this study is to control humanoid robot in real--time by using EMGs. EMGs were collected and processed by the designed system . The processed EMGs were used to control the humanoid robot. Some random features of EMGs were proved. Different muscles of different operators were used to control the humanoid robot to catch object. Experimental results show the failure rate of catching objects by the humanoid robot is less 0.5%.