Learning EMG control of a robotic hand: towards active prostheses

Learning EMG control of a robotic hand: towards active prostheses

We introduce a method based on support vector machines which can detect opening and closing actions of the human thumb, index finger, and other fingers recorded via surface EMG only. The method is shown to be robust across sessions and can be used independently of the position of the arm. With these...

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Bibliographic Details
Published in:Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006 pp. 2819 - 2823
Main Authors: Bitzer, S., van der Smagt, P.
Format: Conference Proceeding
Language:English
Published: IEEE 2006
Subjects:
Electrodes
Electromyography
Fingers
Grasping
Humans
Mechatronics
Muscles
Prosthetics
Robot control
Robustness
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Summary:We introduce a method based on support vector machines which can detect opening and closing actions of the human thumb, index finger, and other fingers recorded via surface EMG only. The method is shown to be robust across sessions and can be used independently of the position of the arm. With these stability criteria, the method is ideally suited for the control of active prosthesis with a high number of active degrees of freedom. The method is successfully demonstrated on a robotic four-finger hand, and can be used to grasp objects
ISBN:0780395050
9780780395053
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2006.1642128