EMG Controlled Biped Robot
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University of Tennessee at Chattanooga University of Tennessee at Chattanooga UTC Scholar UTC Scholar ReSEARCH Dialogues Conference Proceedings ReSEARCH Dialogues Conference Proceedings 2020 Apr 14th, 1:00 PM - 3:00 PM EMG Controlled Biped Robot EMG Controlled Biped Robot Sertac Tuna University of Tennessee at Chattanooga Jefferson Drumm University of Tennessee at Chattanooga Dr. Erkan Kaplanoglu University of Tennessee at Chattanooga Follow this and additional works at: https://scholar.utc.edu/research-dialogues Recommended Citation Recommended Citation Tuna, Sertac; Drumm, Jefferson; and Kaplanoglu, Dr. Erkan, "EMG Controlled Biped Robot". ReSEARCH Dialogues Conference proceedings. https://scholar.utc.edu/research-dialogues/2020/day1_posters/160. This posters is brought to you for free and open access by the Conferences and Events at UTC Scholar. It has been accepted for inclusion in ReSEARCH Dialogues Conference Proceedings by an authorized administrator of UTC Scholar. For more information, please contact [email protected].
Transcript of EMG Controlled Biped Robot
University of Tennessee at Chattanooga University of Tennessee at Chattanooga
UTC Scholar UTC Scholar
ReSEARCH Dialogues Conference Proceedings ReSEARCH Dialogues Conference Proceedings 2020
Apr 14th, 1:00 PM - 3:00 PM
EMG Controlled Biped Robot EMG Controlled Biped Robot
Sertac Tuna University of Tennessee at Chattanooga
Jefferson Drumm University of Tennessee at Chattanooga
Dr. Erkan Kaplanoglu University of Tennessee at Chattanooga
Follow this and additional works at: https://scholar.utc.edu/research-dialogues
Recommended Citation Recommended Citation Tuna, Sertac; Drumm, Jefferson; and Kaplanoglu, Dr. Erkan, "EMG Controlled Biped Robot". ReSEARCH Dialogues Conference proceedings. https://scholar.utc.edu/research-dialogues/2020/day1_posters/160.
This posters is brought to you for free and open access by the Conferences and Events at UTC Scholar. It has been accepted for inclusion in ReSEARCH Dialogues Conference Proceedings by an authorized administrator of UTC Scholar. For more information, please contact [email protected].
RESEARCH POSTER PRESENTATION DESIGN © 2015
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In this project, a 6 DOF Biped Robot wascontrolled via bio signals. The robot hasbeen adapted for remote control via aBluetooth MYO armband which useselectromyography (EMG) signals fromthe upper forearm to communicatemotion to the robot. There are twofields for application of this work thatare in rehabilitation and military.
ABSTRACT METHODS
CONCLUSION
With the controller being a wearabledevice, placed on the forearm taking biosignals (Electromyography) from armmuscles, the user has full awareness oftheir surroundings, and as a result, themovement of the biped robot has beensuccessfully controlled according to theuser’s hand motions.
There are three steps for the controlsystem. The first step uses a Raspberry Pito read the EMG signals from the MYOarmband attached to the forearm. Thefollowing step, classifies the five functions(move forward, backward, left, right, andstop) of the mobile robot to the fivegestures measured by the MYO armband.The gestures are fist, spread, wave left,wave right and double tap. The final stepinvolves the control of the servo motorsvia Arduino, which is used to controlmovement of the biped robot.
EMG Controlled Biped RobotSertac Tuna, Jefferson Drumm, Erdem Erdemir, Erkan Kaplanoglu
The control system of the biped robot via wearable MYOarmband with a fast and simple algorithm called finite statemachine for hand gesture classification using EMG signals wasrealized. For the real time control system, a Raspberry Pi is usedas a micro controller, providing Bluetooth communicationbetween the mobile robot and MYO armband.
RESULTS
Hand Gestures
INTRODUCTION
Devices have been developed in themedical field for rehabilitation ofpatients who have lost use of the lowerlimbs, yet none of these devices allowthe user a simple and easy method tocontrol the device/exoskeleton. Currentresearch is steering away from complexcontrol systems and moving towards asimple wearable tool which the user caneasily understand and learn to use.There are two fields for application ofthis work that are in rehabilitation andmilitary.In rehabilitation, the robot could beused as an exoskeleton for paraplegics,where walking is easily controlledleaving the hands available for othertasks.The military application would allow asoldier to move the robot intodangerous areas without the distractionof using a handheld controller, thusproviding another level of safety. Bothapplications utilize the Bluetooth MYOarmband for simple robotic controlwhile providing enhanced freedom forthe operator.
