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Control of anthropomorphic teleoperator fingers using surface electromyograms

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2 Author(s)
Gupta, V. ; Dept. of Biomed. Eng., Akron Univ., OH, USA ; Reddy, N.P.

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°-2.75°. Therefore, surface EMG can be used as a direct biocontrol for teleoperators and in virtual reality (VR) applications

Published in:

Engineering in Medicine and Biology Society, 1997. Proceedings of the 19th Annual International Conference of the IEEE  (Volume:3 )

Date of Conference:

30 Oct-2 Nov 1997

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