A switching regime model for the emg-based control of a robot arm

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 41, Issue 1, 2011, Pages 53-63

  Artemiadis, Panagiotis K ^a   Kyriakopoulos, Kostas J ^b  

^a Massachusetts Institute of Technology Cambridge   (United States)

^b NATIONAL TECHNICAL UNIVERSITY OF ATHENS   (Greece)

Author keywords

Electromyographic (EMG) control; neurorobotics; switching model

Indexed keywords

3-D SPACE; ANTHROPOMORPHIC ROBOT ARM; ARM MOTIONS; CONTROL INTERFACES; ELECTROMYOGRAPHIC (EMG) CONTROL; ELECTROMYOGRAPHIC SIGNAL; EMG SIGNAL; EMG-BASED CONTROL; NEUROROBOTICS; NON-LINEARITY; NON-STATIONARITIES; REAL TIME; REAL-TIME EXPERIMENT; ROBOT ARMS; SWITCHING MODEL; UPPER LIMBS;

ANTHROPOMORPHIC ROBOTS; MUSCLE; ROBOTIC ARMS; SWITCHING;

THREE DIMENSIONAL;

ADULT; ALGORITHM; ARM; ARTICLE; COMPUTER INTERFACE; ELECTROMYOGRAPHY; HUMAN; MALE; MAN MACHINE INTERACTION; METHODOLOGY; PHYSIOLOGY; ROBOTICS; SIGNAL PROCESSING;

ADULT; ALGORITHMS; ARM; ELECTROMYOGRAPHY; HUMANS; MALE; MAN-MACHINE SYSTEMS; ROBOTICS; SIGNAL PROCESSING, COMPUTER-ASSISTED; USER-COMPUTER INTERFACE;

EID: 79551689662     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCB.2010.2045120     Document Type: Article

References (46)

1. Y. Woo-Keun, T. Goshozono, H. Kawabe, M. Kinami, Y. Tsumaki, M. Uchiyama, M. Oda, and T. Doi, "Model-based space robot teleopera-tion of ETS-VII manipulator," IEEE Trans. Robot. Autom., vol. 20, no. 3, pp. 602-612, Jun. 2004.
2. T. Tayh-Jong, A. Bejczy, G. Chuanfan, and X. Ning, "Intelligent planning and control for telerobotic operations," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 1994, pp. 389-396.
3. J. Park and O. Khatib, "A haptic teleoperation approach based on contact force control," Int. J. Robot. Res., vol. 25, no. 5/6, pp. 575-591, May/Jun. 2006.
4. F. E. Zajac, "Muscle and tendon: Properties, models, scaling, and application to biomechanics and motor control," in CRC Critical Reviews in Biomedical Engineering, J. R. Bourne, Ed. Boca Raton, FL: CRC Press, 1986, pp. 359-411.
5. O. Fukuda, T. Tsuji, M. Kaneko, and A. Otsuka, "A human-assisting manipulator teleoperated by EMG signals and arm motions," IEEE Trans. Robot. Autom., vol. 19, no. 2, pp. 210-222, Apr. 2003.
6. J. Zhao, Z. Xie, L. Jiang, H. Cai, H. Liu, and G. Hirzinger, "Leven-bergmarquardt based neural network control for a five-fingered prosthetic hand," in Proc. IEEE Int. Conf. Robot. Autom., 2005, pp. 4482-4487. (Pubitemid 46084485)
7. S. Bitzer and P. van der Smagt, "Learning EMG control of a robotic hand: Towards active prostheses," in Proc. IEEE Int. Conf. Robot. Autom., 2006, pp. 2819-2823.
8. M. Zecca, S. Micera, M. C. Carrozza, and P. Dario, "Control of multifunctional prosthetic hands by processing the electromyographic signal," Crit. Rev. Biomed. Eng., vol. 30, no. 4-6, pp. 459-485, 2002.
9. D. Nishikawa, W. Yu, H. Yokoi, and Y. Kakazu, "EMG prosthetic hand controller using real-time learning method," in Proc. IEEE Int. Conf. Syst., Man, Cybern., 1999, pp. 153-158.
10. K. Takahashi, T. Nakauke, and M. Hashimoto, "Remarks on hands-free manipulation using bio-potential signals," in Proc. ISIC/IEEE Int. Conf. Syst., Man Cybern., 2007, pp. 2965-2970.
11. K. Kiguchi, S. Kariya, K. Watanabe, K. Izumi, and T. Fukuda, "An exoskeletal robot for human elbow motion support-sensor fusion, adaptation, and control," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 31, no. 3, pp. 353-361, Jun. 2001. (Pubitemid 32676839)
12. Y. Suzuki, T. Tanaka, S. Kaneko, S. Moromugi, and M. Feng, "Soft sensor suits as man-machine interface for wearable power amplifier," in Proc. IEEE Int. Conf. Syst., Man Cybern., 2005, pp. 1680-1685.
13. K. Kita, R. Kato, H. Yokoi, and T. Arai, "Development of autonomous assistive devices-Analysis of change of human motion patterns," in Proc. IEEE Int. Conf. Syst., Man Cybern., 2006, pp. 316-321.
14. R. J. Smith, F. Tenore, D. Huberdeau, R. Etienne-Cummings, and N. V. Thakor, "Continuous decoding of finger position from surface EMG signals for the control of powered prostheses," in Proc. Annu. Int. IEEE EMBS Conf., 2008, pp. 197-200.
15. A. V. Hill, "The heat of shortening and the dynamic constants of muscle," Proc. R. Soc. Lond. B, Biol., vol. 126, no. 843, pp. 136-195, Oct. 1938.
16. E. Cavallaro, J. Rosen, J. C. Perry, S. Burns, and B. Hannaford, "Hill-based model as a myoprocessor for a neural controlled powered exoskele-ton arm-Parameters optimization," in Proc. IEEE Int. Conf. Robot. Autom., 2005, pp. 4514-4519.
17. P. K. Artemiadis and K. J. Kyriakopoulos, "Teleoperation of a robot manipulator using EMG signals and a position tracker," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2005, pp. 1003-1008.
18. J. Potvin, R. Norman, and S. McGill, "Mechanically corrected EMG for the continuous estimation of erector spine muscle loading during repetitive lifting," Eur. J. Appl. Physiol., vol. 74, no. 1/2, pp. 119-132, Aug. 1996.
19. D. G. Lloyd and T. F. Besier, "An EMG-driven musculoskeletal model to estimate muscle forces and knee joint moments in vivo," J. Biomechanics, vol. 36, no. 6, pp. 765-776, Jun. 2003.
20. K. Manal, T. S. Buchanan, X. Shen, D. G. Lloyd, and R. V. Gonzalez, "Design of a real-time EMG driven virtual arm," Comput. Biol. Med., vol. 32, no. 1, pp. 25-36, Jan. 2002.
21. Y. Koike and M. Kawato, "Estimation of dynamic joint torques and trajectory formation from surface electromyography signals using a neural network model," Biol. Cybern., vol. 73, no. 4, pp. 291-300, Sep. 1995.
22. W. Ryu, B. Han, and J. Kim, "Continuous position control of 1 DOF manipulator using EMG signals," in Proc. Int. Conf. Convergence Hybrid Inf. Technol., 2008, pp. 870-874.
23. N. A. Dimitrova and G. V. Dimitrov, "Interpretation of EMG changes with fatigue: Facts, pitfalls, and fallacies," J. Electromyography Kinesiology, vol. 13, no. 1, pp. 13-36, Feb. 2003.
24. T. Moritani, M. Muro, and A. Nagata, "Intramuscular and surface elec-tromyogram changes during muscle fatigue," J. Appl. Physiol., vol. 60, no. 4, pp. 1179-1185, Apr. 1986. (Pubitemid 16028413)
25. J. Fernández, R. Acevedo, and C. Tabernig, "Influence of muscular fatigue in evoked electromyogram," J. Phys.: Conf. Ser., vol. 90, p. 01279, 2007.
26. R. Merletti, M. Knaflitz, and C. D. Luca, "Myoelectric manifestations of fatigue in voluntary and electrically elicited contractions," J. Appl. Physiol., vol. 69, no. 5, pp. 1810-1820, Nov. 1990.
27. M. Schwartz, Biofeedback: A Practitioner's Guide. New York: Guilford Press, 1987.
28. J. R. Cram and G. S. Kasman, Introduction to Surface Electromyography. Gaithersburg, MD: Aspen, 1998.
29. J. Jeong, W. Cho, Y. Kim, and H. Choi, "Recognition of lower limb muscle EMG patterns by using neural networks during the postural balance control," in Proc. Int. Conf. Biomed. Eng., 2007, pp. 82-85.
30. M. M. Morlock, V. Bonin, G. Muller, and E. Schneider, "Trunk muscle fatigue and associated EMG changes during a dynamic iso-inertial test," Eur. J. Appl. Physiol., vol. 76, no. 1, pp. 75-80, Jun. 1997.
31. H. Oka, "Estimation of muscle fatigue by using EMG and muscle stiffness," in Proc. IEEE Int. Conf. Eng. Med. Biol. Soc., 1996, vol. 4, pp. 1449-1450.
32. P. K. Artemiadis and K. J. Kyriakopoulos, "EMG-based teleoperation of a robot arm using low-dimensional representation," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2007, pp. 489-495.
33. B. Lim, S. Ra, and F. Park, "Movement primitives, principal component analysis, and the efficient generation of natural motions," in Proc. IEEE Int. Conf. Robot. Autom., 2005, pp. 4630-4635.
34. F. A. Mussa-Ivaldi and E. Bizzi, "Motor learning: The combination of primitives," Philos. Trans. Roy. Soc. Lond. B, Biol. Sci., vol. 355, no. 1404, pp. 1755-1769, Dec. 2000.
35. A. Daffertshofer, C. J. C. Lamoth, O. G. Meijer, and P. J. Beek, "PCA in studying coordination and variability: A tutorial," Clin. Biomech., vol. 19, no. 4, pp. 415-428, May 2004.
36. C. Kim, J. Piger, and R. Startz, "Estimation of Markov regime-switching regression models with endogenous switching," J. Econometrics, vol. 143, no. 2, pp. 263-273, Apr. 2008.
37. F. Felici, J.-W. van Wingerden, and M. Verhaegen, "Subspace identification of MIMO LPV systems using a periodic scheduling sequence," Automatica, vol. 43, no. 10, pp. 1684-1697, Oct. 2007. (Pubitemid 47374628)
38. R. O. Duda, P. E. Hart, and D. G. Stork, Pattern Classification. Hoboken, NJ: Wiley, 2001.
39. G. McLachlan and D. Peel, Finite Mixture Models. Hoboken, NJ: Wiley, 2000.
40. K. P. Burnham and D. R. Anderson, Model Selection and Multimodel Inference: A Practical-Theoretic Approach. New York: Springer-Verlag, 2002.
41. N. A. Mpompos, P. K. Artemiadis, A. S. Oikonomopoulos, and K. J. Kyriakopoulos, "Modeling, full identification and control of the Mitsubishi PA-10 robot arm," in Proc. IEEE/ASME Int. Conf. Adv. Intell. Mechatronics, Zurich, Switzerland, 2007, pp. 1-6.
42. L. Sciavicco and B. Siciliano, Modeling and Control of Robot Manipulators. New York: McGraw-Hill, 1996.
43. D. M. Mirkov, S. Milanovic, D. B. Ilic, and S. Jaric, "Symmetry of discrete and oscillatory elbow movements: Does it depend on torque that the agonist and antagonist muscle can exert?" Motor Control, vol. 6, no. 3, pp. 271-281, Jul. 2002.
44. J. M. Carmena, M. A. Lebedev, R. E. Crist, J. E. O'Doherty, D. M. Santucci, D. F. Dimitrov, P. G. Patil, C. S. C. S. Henriquez, and M. A. L. Nicolelis, "Learning to control a brain-machine interface for reaching and grasping by primates," PLoS, Biol., vol. 1, no. 2, pp. 193-208, Nov. 2003.
45. C. Castellini, F. Orabona, G. Metta, and G. Sandini, "Internal models of reaching and grasping," Adv. Robot., vol. 21, no. 12, pp. 1545-1564, 2007.
46. L. Chen, P. Yang, X. Xu, X. Guo, and X. Zhang, "Fuzzy support vector machine for EMG pattern recognition and myoelectrical prosthesis control," in Proc. 4th Int. Symp. Neural Netw.: Part II-Adv. Neural Netw., 2007, pp. 1291-1298.