文献类型：期刊文献

英文题名：Finite state machine with adaptive electromyogram (EMG) feature extraction to drive meal assistance robot

作者：Zhang, Xiu[1,3]; Wang, Xingyu[1]; Wang, Bei[1]; Sugi, Takenao[2]; Nakamura, Masatoshi[3]

机构：[1] Department of Automation, East China University of Science and Technology, 130 Meilong St., Shanghai, 200237, China; [2] Department of Electrical and Electronic Engineering, Faculty of Science and Engineering, Saga University, 1 Honjomachi, Saga, 840-8502, Japan; [3] Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1 Honjomachi, Saga, 840-8502, Japan

年份：2009

卷号：129

期号：2

起止页码：308

外文期刊名：IEEJ Transactions on Electronics, Information and Systems

收录：EI(收录号：20095312589833)

语种：英文

外文关键词：Muscle - Biological organs

摘要：Surface electromyogram (EMG) from elbow, wrist and hand has been widely used as an input of multifunction prostheses for many years. However, for patients with high-level limb deficiencies, muscle activities in upper-limbs are not strong enough to be used as control signals. In this paper, EMG from lower-limbs is acquired and applied to drive a meal assistance robot. An onset detection method with adaptive threshold based on EMG power is proposed to recognize different muscle contractions. Predefined control commands are output by finite state machine (FSM), and applied to operate the robot. The performance of EMG control is compared with joystick control by both objective and subjective indices. The results show that FSM provides the user with an easy-performing control strategy, which successfully operates robots with complicated control commands by limited muscle motions. The high accuracy and comfortableness of the EMG-control meal assistance robot make it feasible for users with upper limbs motor disabilities. ? 2009 The Institute of Electrical Engineers of Japan.