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首页> 外文会议>IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems >Electromyographic signal integrated robot hand control for massage therapy applications
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Electromyographic signal integrated robot hand control for massage therapy applications

机译：肌电信号集成机器人手控制，用于按摩疗法应用

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摘要

This paper presents an electromyographic (EMG) signal integrated multi-finger robot hand control for massage applications. This research explores the feasible application of multi-finger robot hands except for the use as prostheses and grasping applications. The forearm EMG of a person who is massaged by the human hands is recorded and analyzed statistically. First, the root mean square (RMS) of the raw data is computed as the discrimination between normal and contracted states of the muscle. Then the EMG signal at contracted state is further divided into painful and comfortable groups based on the impulse factor which is defined to estimate the sharpness of waveform variations. As a consequence, two discriminative values of the EMG signal are generated to distinguish painful and comfortable feelings. Based on the relationship between the human feeling and the massage force, we get an appropriate range of input commands of the robot hand for massage applications. A grasp-kneading massage is performed on the human shoulder to verify the proposed process. As a result, an effective and comfortable massage using the multi-finger robot hand is realized.
机译：本文介绍了一种用于按摩应用的肌电（EMG）信号集成多指机器人手控制。本研究探索了除用作假肢和抓握应用之外的多指机器人手的可行应用。记录并统计分析被人用手按摩的人的前臂EMG。首先，将原始数据的均方根（RMS）计算为肌肉的正常状态和收缩状态之间的区别。然后，基于脉冲因子将处于收缩状态的EMG信号进一步分为疼痛组和舒适组，该脉冲组被定义为估计波形变化的清晰度。结果，产生了EMG信号的两个判别值以区分疼痛和舒适的感觉。基于人的感觉与按摩力之间的关系，我们获得了适合按摩应用的机械手输入命令范围。在人的肩膀上进行揉捏按摩以验证所建议的过程。结果，实现了使用多指机器人手的有效且舒适的按摩。

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