Biswarup Neogi,Sudipta Ghosh,Debasish Kundu,Bipasha Chakrabarti,Swati Barui,




EMG signals,Robot arm,high DOF,Microcontroller comparator,Prosthetic arm,


EMG is the detection of the electrical activity associated with muscle contraction. It is obtained by measurement of the electrical activity of a muscle during contraction. EMG signals are directly linked to the desire of movement of the person. Robot arms are versatile tools found in a wide range of applications. While the user moves his arm, (EMG) activity is recorded from selected muscles, using surface EMG electrodes. By a decoding procedure the muscular activity is transformed to kinematic variables that are used to control the robot arm. This patent is the  innovative design of a new low-cost series elastic robotic arm. The arm is unique in that it achieves reasonable performance for the envisioned tasks with high DOF. There are numerous dimensions over which robotic arms can be evaluated, such as backlash, payload, speed, bandwidth, repeatability, compliance, human safety, and cost, to name a few. In robotics research, some of these dimensions are more important than others: for grasping and object manipulation, high repeatability and low backlash are important. To develop the articulated  innovative arm design of the robot with high DOF equations were developed for both forward and inverse kinematics. Forward kinematics gives the location of the end effector in the “universe” frame. The inverse kinematics gives the joint angles needed in order for the to the robot arm reach the goal frame. This high DOF based prosthetic arm operates according to EMG database. The EMG signal is obtained for different users for different arm  movements  using signal acquisition system. The EMG signals are used as input to the Microcontroller and converted to digital ones in the comparator. According to these signals the program built in the microcontroller make decisions to control the motors to drive the prosthesis arm.


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Author(s): Biswarup Neogi, Sudipta Ghosh, Debasish Kundu, Bipasha Chakrabarti, Swati Barui View Download