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CONTROL OF KINEMATIC CHAINS WITH ELECTROMYOGRAPHY SIGNALS

presentation for YBERC
by

Slavka Viteckova

on 2 July 2010

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Transcript of CONTROL OF KINEMATIC CHAINS WITH ELECTROMYOGRAPHY SIGNALS

CONTROL OF KINEMATIC CHAINS WITH ELECTROMYOGRAPHY SIGNALS AIM EMG HW CONTROL DESIGN RESULTS Electromyography generated during muscle's contraction measured on surfcace of the skin
U: units of mV
f: 20Hz...hundreds of Hz
summing signal Hardware 5 blocks - process signal: amplification
filtration
digitizing - A/D converter

transform to TTL logic
output LED

J. Kauler, Z. Szabó, S. Vítečková Design of artificial
arm Results Aim HMI for controlling an artificial arm by EMG signals
movement of: a single kinematic pair
an arm end-point Many thank for your attention. Control of artificial
arm control with direct access to the kinematic joints Newton iteration method with Jacobian matrix Control - direct access Control - end-point Department of Biomedical Informatics, Faculty of Biomedial Engineering
Czech Technical University in Prague, Kladno, Czech Republic threshold OOPic microcontroller - realize control algorithm YBERC 2010
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