EMG-moment model of human arm for rehabilitation robot system

摘要

In order to make haptic feedback in teleoperation rehabilitation robot system or to assist the object's movement, recognition the intended movement of an object is required. In this paper, we establish the relation between the electromyography (EMG) signal of some specified hu.man arm's muscles and the moment of corresponding arm's joints. The model and the parameter calibration process are simple to put in to practice. Experiments showed that by using the proposed EMG-moment model, it is possible to predict the moment of the shoulder and elbow joints from the processed EMG signals of specified muscles.