Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm

<p<Abstract</p< <p<Background</p< <p<Myoelectric control of a robotic manipulator may be disturbed by failures due to disconnected electrodes, interface impedance changes caused by movements, problems in the recording channel and other various noise sources. To correct these problems, this paper presents two fusing techniques, Variance Weighted Average (VWA) and Decentralized Kalman Filter (DKF), both based on the myoelectric signal variance as selecting criterion.</p< <p<Methods</p< <p<Tested in five volunteers, a redundant arrangement was obtained with two pairs of electrodes for each recording channel. The myoelectric signals were electronically amplified, filtered and digitalized, while the processing, fusion algorithms and control were implemented in a personal computer under MATLAB<sup<® </sup<environment and in a Digital Signal Processor (DSP). The experiments used an industrial robotic manipulator BOSCH SR-800, type SCARA, with four degrees of freedom; however, only the first joint was used to move the end effector to a desired position, the latter obtained as proportional to the EMG amplitude.</p< <p<Results</p< <p<Several trials, including disconnecting and reconnecting one electrode and disturbing the signal with synthetic noise, were performed to test the fusion techniques. The results given by VWA and DKF were transformed into joint coordinates and used as command signals to the robotic arm. Even though the resultant signal was not exact, the failure was ignored and the joint reference signal never exceeded the workspace limits.</p< <p<Conclusion</p< <p<The fault robustness and safety characteristics of a myoelectric controlled manipulator system were substantially improved. The proposed scheme prevents potential risks for the operator, the equipment and the environment. Both algorithms showed efficient behavior. This outline could be applied to myoelectric control of prosthesis, or assistive manipulators to better assure the system functionality when electrode faults or noisy environment are present.</p< Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Soria Carlos M [verfasserIn] di Sciascio Fernando [verfasserIn] López Natalia M [verfasserIn] Valentinuzzi Max E [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2009

Übergeordnetes Werk:	In: BioMedical Engineering OnLine - BMC, 2003, 8(2009), 1, p 5
Übergeordnetes Werk:	volume:8 ; year:2009 ; number:1, p 5

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.1186/1475-925X-8-5

Katalog-ID:	DOAJ007637861

Internformat


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allfields	10.1186/1475-925X-8-5 doi (DE-627)DOAJ007637861 (DE-599)DOAJ14e961daa6a9474d9276e61d650efb95 DE-627 ger DE-627 rakwb eng R855-855.5 Soria Carlos M verfasserin aut Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm 2009 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier <p<Abstract</p< <p<Background</p< <p<Myoelectric control of a robotic manipulator may be disturbed by failures due to disconnected electrodes, interface impedance changes caused by movements, problems in the recording channel and other various noise sources. To correct these problems, this paper presents two fusing techniques, Variance Weighted Average (VWA) and Decentralized Kalman Filter (DKF), both based on the myoelectric signal variance as selecting criterion.</p< <p<Methods</p< <p<Tested in five volunteers, a redundant arrangement was obtained with two pairs of electrodes for each recording channel. The myoelectric signals were electronically amplified, filtered and digitalized, while the processing, fusion algorithms and control were implemented in a personal computer under MATLAB<sup<® </sup<environment and in a Digital Signal Processor (DSP). The experiments used an industrial robotic manipulator BOSCH SR-800, type SCARA, with four degrees of freedom; however, only the first joint was used to move the end effector to a desired position, the latter obtained as proportional to the EMG amplitude.</p< <p<Results</p< <p<Several trials, including disconnecting and reconnecting one electrode and disturbing the signal with synthetic noise, were performed to test the fusion techniques. The results given by VWA and DKF were transformed into joint coordinates and used as command signals to the robotic arm. Even though the resultant signal was not exact, the failure was ignored and the joint reference signal never exceeded the workspace limits.</p< <p<Conclusion</p< <p<The fault robustness and safety characteristics of a myoelectric controlled manipulator system were substantially improved. The proposed scheme prevents potential risks for the operator, the equipment and the environment. Both algorithms showed efficient behavior. This outline could be applied to myoelectric control of prosthesis, or assistive manipulators to better assure the system functionality when electrode faults or noisy environment are present.</p< Medical technology di Sciascio Fernando verfasserin aut López Natalia M verfasserin aut Valentinuzzi Max E verfasserin aut In BioMedical Engineering OnLine BMC, 2003 8(2009), 1, p 5 (DE-627)35210547X (DE-600)2084374-4 1475925X nnns volume:8 year:2009 number:1, p 5 https://doi.org/10.1186/1475-925X-8-5 kostenfrei https://doaj.org/article/14e961daa6a9474d9276e61d650efb95 kostenfrei http://www.biomedical-engineering-online.com/content/8/1/5 kostenfrei https://doaj.org/toc/1475-925X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2061 GBV_ILN_2108 GBV_ILN_2111 GBV_ILN_2113 GBV_ILN_2119 GBV_ILN_2190 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2009 1, p 5
spelling	10.1186/1475-925X-8-5 doi (DE-627)DOAJ007637861 (DE-599)DOAJ14e961daa6a9474d9276e61d650efb95 DE-627 ger DE-627 rakwb eng R855-855.5 Soria Carlos M verfasserin aut Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm 2009 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier <p<Abstract</p< <p<Background</p< <p<Myoelectric control of a robotic manipulator may be disturbed by failures due to disconnected electrodes, interface impedance changes caused by movements, problems in the recording channel and other various noise sources. To correct these problems, this paper presents two fusing techniques, Variance Weighted Average (VWA) and Decentralized Kalman Filter (DKF), both based on the myoelectric signal variance as selecting criterion.</p< <p<Methods</p< <p<Tested in five volunteers, a redundant arrangement was obtained with two pairs of electrodes for each recording channel. The myoelectric signals were electronically amplified, filtered and digitalized, while the processing, fusion algorithms and control were implemented in a personal computer under MATLAB<sup<® </sup<environment and in a Digital Signal Processor (DSP). The experiments used an industrial robotic manipulator BOSCH SR-800, type SCARA, with four degrees of freedom; however, only the first joint was used to move the end effector to a desired position, the latter obtained as proportional to the EMG amplitude.</p< <p<Results</p< <p<Several trials, including disconnecting and reconnecting one electrode and disturbing the signal with synthetic noise, were performed to test the fusion techniques. The results given by VWA and DKF were transformed into joint coordinates and used as command signals to the robotic arm. Even though the resultant signal was not exact, the failure was ignored and the joint reference signal never exceeded the workspace limits.</p< <p<Conclusion</p< <p<The fault robustness and safety characteristics of a myoelectric controlled manipulator system were substantially improved. The proposed scheme prevents potential risks for the operator, the equipment and the environment. Both algorithms showed efficient behavior. This outline could be applied to myoelectric control of prosthesis, or assistive manipulators to better assure the system functionality when electrode faults or noisy environment are present.</p< Medical technology di Sciascio Fernando verfasserin aut López Natalia M verfasserin aut Valentinuzzi Max E verfasserin aut In BioMedical Engineering OnLine BMC, 2003 8(2009), 1, p 5 (DE-627)35210547X (DE-600)2084374-4 1475925X nnns volume:8 year:2009 number:1, p 5 https://doi.org/10.1186/1475-925X-8-5 kostenfrei https://doaj.org/article/14e961daa6a9474d9276e61d650efb95 kostenfrei http://www.biomedical-engineering-online.com/content/8/1/5 kostenfrei https://doaj.org/toc/1475-925X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2061 GBV_ILN_2108 GBV_ILN_2111 GBV_ILN_2113 GBV_ILN_2119 GBV_ILN_2190 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2009 1, p 5
allfields_unstemmed	10.1186/1475-925X-8-5 doi (DE-627)DOAJ007637861 (DE-599)DOAJ14e961daa6a9474d9276e61d650efb95 DE-627 ger DE-627 rakwb eng R855-855.5 Soria Carlos M verfasserin aut Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm 2009 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier <p<Abstract</p< <p<Background</p< <p<Myoelectric control of a robotic manipulator may be disturbed by failures due to disconnected electrodes, interface impedance changes caused by movements, problems in the recording channel and other various noise sources. To correct these problems, this paper presents two fusing techniques, Variance Weighted Average (VWA) and Decentralized Kalman Filter (DKF), both based on the myoelectric signal variance as selecting criterion.</p< <p<Methods</p< <p<Tested in five volunteers, a redundant arrangement was obtained with two pairs of electrodes for each recording channel. The myoelectric signals were electronically amplified, filtered and digitalized, while the processing, fusion algorithms and control were implemented in a personal computer under MATLAB<sup<® </sup<environment and in a Digital Signal Processor (DSP). The experiments used an industrial robotic manipulator BOSCH SR-800, type SCARA, with four degrees of freedom; however, only the first joint was used to move the end effector to a desired position, the latter obtained as proportional to the EMG amplitude.</p< <p<Results</p< <p<Several trials, including disconnecting and reconnecting one electrode and disturbing the signal with synthetic noise, were performed to test the fusion techniques. The results given by VWA and DKF were transformed into joint coordinates and used as command signals to the robotic arm. Even though the resultant signal was not exact, the failure was ignored and the joint reference signal never exceeded the workspace limits.</p< <p<Conclusion</p< <p<The fault robustness and safety characteristics of a myoelectric controlled manipulator system were substantially improved. The proposed scheme prevents potential risks for the operator, the equipment and the environment. Both algorithms showed efficient behavior. This outline could be applied to myoelectric control of prosthesis, or assistive manipulators to better assure the system functionality when electrode faults or noisy environment are present.</p< Medical technology di Sciascio Fernando verfasserin aut López Natalia M verfasserin aut Valentinuzzi Max E verfasserin aut In BioMedical Engineering OnLine BMC, 2003 8(2009), 1, p 5 (DE-627)35210547X (DE-600)2084374-4 1475925X nnns volume:8 year:2009 number:1, p 5 https://doi.org/10.1186/1475-925X-8-5 kostenfrei https://doaj.org/article/14e961daa6a9474d9276e61d650efb95 kostenfrei http://www.biomedical-engineering-online.com/content/8/1/5 kostenfrei https://doaj.org/toc/1475-925X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2061 GBV_ILN_2108 GBV_ILN_2111 GBV_ILN_2113 GBV_ILN_2119 GBV_ILN_2190 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2009 1, p 5
allfieldsGer	10.1186/1475-925X-8-5 doi (DE-627)DOAJ007637861 (DE-599)DOAJ14e961daa6a9474d9276e61d650efb95 DE-627 ger DE-627 rakwb eng R855-855.5 Soria Carlos M verfasserin aut Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm 2009 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier <p<Abstract</p< <p<Background</p< <p<Myoelectric control of a robotic manipulator may be disturbed by failures due to disconnected electrodes, interface impedance changes caused by movements, problems in the recording channel and other various noise sources. To correct these problems, this paper presents two fusing techniques, Variance Weighted Average (VWA) and Decentralized Kalman Filter (DKF), both based on the myoelectric signal variance as selecting criterion.</p< <p<Methods</p< <p<Tested in five volunteers, a redundant arrangement was obtained with two pairs of electrodes for each recording channel. The myoelectric signals were electronically amplified, filtered and digitalized, while the processing, fusion algorithms and control were implemented in a personal computer under MATLAB<sup<® </sup<environment and in a Digital Signal Processor (DSP). The experiments used an industrial robotic manipulator BOSCH SR-800, type SCARA, with four degrees of freedom; however, only the first joint was used to move the end effector to a desired position, the latter obtained as proportional to the EMG amplitude.</p< <p<Results</p< <p<Several trials, including disconnecting and reconnecting one electrode and disturbing the signal with synthetic noise, were performed to test the fusion techniques. The results given by VWA and DKF were transformed into joint coordinates and used as command signals to the robotic arm. Even though the resultant signal was not exact, the failure was ignored and the joint reference signal never exceeded the workspace limits.</p< <p<Conclusion</p< <p<The fault robustness and safety characteristics of a myoelectric controlled manipulator system were substantially improved. The proposed scheme prevents potential risks for the operator, the equipment and the environment. Both algorithms showed efficient behavior. This outline could be applied to myoelectric control of prosthesis, or assistive manipulators to better assure the system functionality when electrode faults or noisy environment are present.</p< Medical technology di Sciascio Fernando verfasserin aut López Natalia M verfasserin aut Valentinuzzi Max E verfasserin aut In BioMedical Engineering OnLine BMC, 2003 8(2009), 1, p 5 (DE-627)35210547X (DE-600)2084374-4 1475925X nnns volume:8 year:2009 number:1, p 5 https://doi.org/10.1186/1475-925X-8-5 kostenfrei https://doaj.org/article/14e961daa6a9474d9276e61d650efb95 kostenfrei http://www.biomedical-engineering-online.com/content/8/1/5 kostenfrei https://doaj.org/toc/1475-925X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2061 GBV_ILN_2108 GBV_ILN_2111 GBV_ILN_2113 GBV_ILN_2119 GBV_ILN_2190 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2009 1, p 5
allfieldsSound	10.1186/1475-925X-8-5 doi (DE-627)DOAJ007637861 (DE-599)DOAJ14e961daa6a9474d9276e61d650efb95 DE-627 ger DE-627 rakwb eng R855-855.5 Soria Carlos M verfasserin aut Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm 2009 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier <p<Abstract</p< <p<Background</p< <p<Myoelectric control of a robotic manipulator may be disturbed by failures due to disconnected electrodes, interface impedance changes caused by movements, problems in the recording channel and other various noise sources. To correct these problems, this paper presents two fusing techniques, Variance Weighted Average (VWA) and Decentralized Kalman Filter (DKF), both based on the myoelectric signal variance as selecting criterion.</p< <p<Methods</p< <p<Tested in five volunteers, a redundant arrangement was obtained with two pairs of electrodes for each recording channel. The myoelectric signals were electronically amplified, filtered and digitalized, while the processing, fusion algorithms and control were implemented in a personal computer under MATLAB<sup<® </sup<environment and in a Digital Signal Processor (DSP). The experiments used an industrial robotic manipulator BOSCH SR-800, type SCARA, with four degrees of freedom; however, only the first joint was used to move the end effector to a desired position, the latter obtained as proportional to the EMG amplitude.</p< <p<Results</p< <p<Several trials, including disconnecting and reconnecting one electrode and disturbing the signal with synthetic noise, were performed to test the fusion techniques. The results given by VWA and DKF were transformed into joint coordinates and used as command signals to the robotic arm. Even though the resultant signal was not exact, the failure was ignored and the joint reference signal never exceeded the workspace limits.</p< <p<Conclusion</p< <p<The fault robustness and safety characteristics of a myoelectric controlled manipulator system were substantially improved. The proposed scheme prevents potential risks for the operator, the equipment and the environment. Both algorithms showed efficient behavior. This outline could be applied to myoelectric control of prosthesis, or assistive manipulators to better assure the system functionality when electrode faults or noisy environment are present.</p< Medical technology di Sciascio Fernando verfasserin aut López Natalia M verfasserin aut Valentinuzzi Max E verfasserin aut In BioMedical Engineering OnLine BMC, 2003 8(2009), 1, p 5 (DE-627)35210547X (DE-600)2084374-4 1475925X nnns volume:8 year:2009 number:1, p 5 https://doi.org/10.1186/1475-925X-8-5 kostenfrei https://doaj.org/article/14e961daa6a9474d9276e61d650efb95 kostenfrei http://www.biomedical-engineering-online.com/content/8/1/5 kostenfrei https://doaj.org/toc/1475-925X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2061 GBV_ILN_2108 GBV_ILN_2111 GBV_ILN_2113 GBV_ILN_2119 GBV_ILN_2190 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2009 1, p 5
language	English
source	In BioMedical Engineering OnLine 8(2009), 1, p 5 volume:8 year:2009 number:1, p 5
sourceStr	In BioMedical Engineering OnLine 8(2009), 1, p 5 volume:8 year:2009 number:1, p 5
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	Medical technology
isfreeaccess_bool	true
container_title	BioMedical Engineering OnLine
authorswithroles_txt_mv	Soria Carlos M @@aut@@ di Sciascio Fernando @@aut@@ López Natalia M @@aut@@ Valentinuzzi Max E @@aut@@
publishDateDaySort_date	2009-01-01T00:00:00Z
hierarchy_top_id	35210547X
id	DOAJ007637861
language_de	englisch
fullrecord	<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">DOAJ007637861</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20230309235714.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">230225s2009 xx \|\|\|\|\|o 00\| \|\|eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1186/1475-925X-8-5</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)DOAJ007637861</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)DOAJ14e961daa6a9474d9276e61d650efb95</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">R855-855.5</subfield></datafield><datafield tag="100" ind1="0" ind2=" "><subfield code="a">Soria Carlos M</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2009</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a"><p<Abstract</p< <p<Background</p< <p<Myoelectric control of a robotic manipulator may be disturbed by failures due to disconnected electrodes, interface impedance changes caused by movements, problems in the recording channel and other various noise sources. To correct these problems, this paper presents two fusing techniques, Variance Weighted Average (VWA) and Decentralized Kalman Filter (DKF), both based on the myoelectric signal variance as selecting criterion.</p< <p<Methods</p< <p<Tested in five volunteers, a redundant arrangement was obtained with two pairs of electrodes for each recording channel. The myoelectric signals were electronically amplified, filtered and digitalized, while the processing, fusion algorithms and control were implemented in a personal computer under MATLAB<sup<® </sup<environment and in a Digital Signal Processor (DSP). The experiments used an industrial robotic manipulator BOSCH SR-800, type SCARA, with four degrees of freedom; however, only the first joint was used to move the end effector to a desired position, the latter obtained as proportional to the EMG amplitude.</p< <p<Results</p< <p<Several trials, including disconnecting and reconnecting one electrode and disturbing the signal with synthetic noise, were performed to test the fusion techniques. The results given by VWA and DKF were transformed into joint coordinates and used as command signals to the robotic arm. Even though the resultant signal was not exact, the failure was ignored and the joint reference signal never exceeded the workspace limits.</p< <p<Conclusion</p< <p<The fault robustness and safety characteristics of a myoelectric controlled manipulator system were substantially improved. The proposed scheme prevents potential risks for the operator, the equipment and the environment. Both algorithms showed efficient behavior. 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callnumber-first	R - Medicine
author	Soria Carlos M
spellingShingle	Soria Carlos M misc R855-855.5 misc Medical technology Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm
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topic_title	R855-855.5 Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm
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title	Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm
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title_full	Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm
author_sort	Soria Carlos M
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author_browse	Soria Carlos M di Sciascio Fernando López Natalia M Valentinuzzi Max E
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format_se	Elektronische Aufsätze
author-letter	Soria Carlos M
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title_sort	robust emg sensing system based on data fusion for myoelectric control of a robotic arm
callnumber	R855-855.5
title_auth	Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm
abstract	<p<Abstract</p< <p<Background</p< <p<Myoelectric control of a robotic manipulator may be disturbed by failures due to disconnected electrodes, interface impedance changes caused by movements, problems in the recording channel and other various noise sources. To correct these problems, this paper presents two fusing techniques, Variance Weighted Average (VWA) and Decentralized Kalman Filter (DKF), both based on the myoelectric signal variance as selecting criterion.</p< <p<Methods</p< <p<Tested in five volunteers, a redundant arrangement was obtained with two pairs of electrodes for each recording channel. The myoelectric signals were electronically amplified, filtered and digitalized, while the processing, fusion algorithms and control were implemented in a personal computer under MATLAB<sup<® </sup<environment and in a Digital Signal Processor (DSP). The experiments used an industrial robotic manipulator BOSCH SR-800, type SCARA, with four degrees of freedom; however, only the first joint was used to move the end effector to a desired position, the latter obtained as proportional to the EMG amplitude.</p< <p<Results</p< <p<Several trials, including disconnecting and reconnecting one electrode and disturbing the signal with synthetic noise, were performed to test the fusion techniques. The results given by VWA and DKF were transformed into joint coordinates and used as command signals to the robotic arm. Even though the resultant signal was not exact, the failure was ignored and the joint reference signal never exceeded the workspace limits.</p< <p<Conclusion</p< <p<The fault robustness and safety characteristics of a myoelectric controlled manipulator system were substantially improved. The proposed scheme prevents potential risks for the operator, the equipment and the environment. Both algorithms showed efficient behavior. This outline could be applied to myoelectric control of prosthesis, or assistive manipulators to better assure the system functionality when electrode faults or noisy environment are present.</p<
abstractGer	<p<Abstract</p< <p<Background</p< <p<Myoelectric control of a robotic manipulator may be disturbed by failures due to disconnected electrodes, interface impedance changes caused by movements, problems in the recording channel and other various noise sources. To correct these problems, this paper presents two fusing techniques, Variance Weighted Average (VWA) and Decentralized Kalman Filter (DKF), both based on the myoelectric signal variance as selecting criterion.</p< <p<Methods</p< <p<Tested in five volunteers, a redundant arrangement was obtained with two pairs of electrodes for each recording channel. The myoelectric signals were electronically amplified, filtered and digitalized, while the processing, fusion algorithms and control were implemented in a personal computer under MATLAB<sup<® </sup<environment and in a Digital Signal Processor (DSP). The experiments used an industrial robotic manipulator BOSCH SR-800, type SCARA, with four degrees of freedom; however, only the first joint was used to move the end effector to a desired position, the latter obtained as proportional to the EMG amplitude.</p< <p<Results</p< <p<Several trials, including disconnecting and reconnecting one electrode and disturbing the signal with synthetic noise, were performed to test the fusion techniques. The results given by VWA and DKF were transformed into joint coordinates and used as command signals to the robotic arm. Even though the resultant signal was not exact, the failure was ignored and the joint reference signal never exceeded the workspace limits.</p< <p<Conclusion</p< <p<The fault robustness and safety characteristics of a myoelectric controlled manipulator system were substantially improved. The proposed scheme prevents potential risks for the operator, the equipment and the environment. Both algorithms showed efficient behavior. This outline could be applied to myoelectric control of prosthesis, or assistive manipulators to better assure the system functionality when electrode faults or noisy environment are present.</p<
abstract_unstemmed	<p<Abstract</p< <p<Background</p< <p<Myoelectric control of a robotic manipulator may be disturbed by failures due to disconnected electrodes, interface impedance changes caused by movements, problems in the recording channel and other various noise sources. To correct these problems, this paper presents two fusing techniques, Variance Weighted Average (VWA) and Decentralized Kalman Filter (DKF), both based on the myoelectric signal variance as selecting criterion.</p< <p<Methods</p< <p<Tested in five volunteers, a redundant arrangement was obtained with two pairs of electrodes for each recording channel. The myoelectric signals were electronically amplified, filtered and digitalized, while the processing, fusion algorithms and control were implemented in a personal computer under MATLAB<sup<® </sup<environment and in a Digital Signal Processor (DSP). The experiments used an industrial robotic manipulator BOSCH SR-800, type SCARA, with four degrees of freedom; however, only the first joint was used to move the end effector to a desired position, the latter obtained as proportional to the EMG amplitude.</p< <p<Results</p< <p<Several trials, including disconnecting and reconnecting one electrode and disturbing the signal with synthetic noise, were performed to test the fusion techniques. The results given by VWA and DKF were transformed into joint coordinates and used as command signals to the robotic arm. Even though the resultant signal was not exact, the failure was ignored and the joint reference signal never exceeded the workspace limits.</p< <p<Conclusion</p< <p<The fault robustness and safety characteristics of a myoelectric controlled manipulator system were substantially improved. The proposed scheme prevents potential risks for the operator, the equipment and the environment. Both algorithms showed efficient behavior. This outline could be applied to myoelectric control of prosthesis, or assistive manipulators to better assure the system functionality when electrode faults or noisy environment are present.</p<
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title_short	Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm
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Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm

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