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Surface electromyography (sEMG) is one of the promising sensors to handle biological information especially for user interfaces with low hardware cost. However, sEMG signals are noisy and the sensor position affects to the signal-to-noise ratio (SNR). Assuming sEMG sensors to be inputs of wearable controllers of some devices (head-mounted displays for instance), we examined the SNR of sEMG signals...
Some tetrapods hang upside down from tree branches when moving horizontally. The ability to walk in quadrupedal suspension has been acquired independently in at least 14 mammalian lineages. During the stance (supportive) phase of quadrupedal suspension, the elbow joint flexor muscles (not the extensors as in upright vertebrates moving overground) are expected to contract to maintain the flexed limb...
This paper describes a development of bio-mimetic robot hands and its control scheme. Each robot hand has four under-actuated fingers, which are driven by two linear actuators coupled. According to the study of the human hand, it is noted that coupled muscles (flexor and extensor muscle) generate the finger motion. Each fingertip can reach toward objects by curved surface workspace in 3D-space. The...
Both flexor and extensor muscle activated together when hand-grip task conducted, but there is little work that attempts to specifically investigate the relationship of the hand-grip force level and the EMG activity of extensor muscles. The present study was designed to investigate the correlation between hand-grip force level and sEMG of ECRL (extensor carpi radialis longus, ECRL). A pseudo-randomized...
This paper presents a methodology of robot arm teleoperation, using electromyographic (EMG) signals and a bio-inspired motion law. The methodology is implemented in planar catching movements, in situations that the user reaches and grasps objects lying on a table in front of him. EMG signals from the flexor and extensor muscles of both the elbow and the wrist joint are used to predict the elbow and...
A computer simulation of hand grasp control by force and position feedback has been implemented with a digital controller and a discrete-time muscle model. The simulated system consists of a stiffness controller, a pulse-width activation controller, a coactivation map, a flexor and an extensor muscle, and separate internal and external loads. The measured feedback quantities are the position and the...
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