A study of the human-robot synchronous control based on IMU and EMG sensing of an upper limb

Abstract

In this paper, we develop an interactive interface for the remote control of a collaborative robot based on the operator’s posture. A self-developed circuit board is used to capture the signals of IMUs and EMG to make the collaborative robot follow the operator’s motion and imitate his/her gestures. The IMU sensor is adapted to detect the motion of the user’s upper limb to transfer to necessary commands of the collaborative robot based on the sensor fusion method. The EMG sensors are used to detect the user’s gesture based on the feature extraction of the EMG signals. The cascade support vector machine (SVM) is proposed to identify four different postures of the user.