Control of anthropomorphic teleoperator fingers using surface electromyograms

Natural and synergistic control systems for anthropomorphic teleoperators can be developed using direct biological signals. A computer model of a two-finger teleoperator was developed and controlled using surface electromyography (EMG) from the flexor digitorum superficialis during flexion-extension of the index finger. The results of the study revealed a linear relationship between the RMS EMG and the flexion-extension of the finger model. The RMS error in the system was 0.22/spl deg/-2.75/spl deg/. Therefore, surface EMG can be used as a direct biocontrol for teleoperators and in virtual reality (VR) applications.