근전도 신호를 이용한 1 자유도 인간 팔 동작 추종 로봇 시스템

Abstract

This paper proposes 1 DOF(Degree-Of-Freedom) human shoulder motion tracking robot system using EMG(ElectroMyoGram) signals. The signals value of human shoulder muscles are measured by the developed EMG sensor. The EMG signal processing is performed the RMS, the LPF and the averaging during short-time period. In this paper, we show that both a virtual arm of simulator and I DOF robot comply with flexion and extension motions of human shoulder through simulations and experiments.