Continuous robot control using surface electromyography of atrophic muscles

摘要

The development of new, light robotic systems has opened up a wealth of human-robot interaction applications. In particular, the use of robot manipulators as personal assistant for the disabled is realistic and affordable, but still requires research as to the brain-computer interface. Based on our previous work with tetraplegic individuals, we investigate the use of low-cost yet stable surface Electromyography (sEMG) interfaces for individuals with Spinal Muscular Atrophy (SMA), a disease leading to the death of neuronal cells in the anterior horn of the spinal cord; with sEMG, we can record remaining active muscle fibers. We show the ability of two individuals with SMA to actively control a robot in 3.5D continuously decoded through sEMG after a few minutes of training, allowing them to regain some independence in daily life. Although movement is not nearly as fast as natural, unimpaired movement, reach and grasp success rates are near 100% after 50s of movement.