Modelling and Control of a Robotic Arm Using Artificial Neural Network

摘要

Often it can be seen that men with a lost arm face severe difficulties doing daily chores. Artificial Intelligence could be effectively used to provide some respite to those people. Neural networks and their applications have been an active research topic since recent past in the rehabilitation robotics/machine learning community, as it can be used to predict posture/gesture which is guided by signals from the human brain. In this paper, a method is proposed to estimate force from Surface Electromyography (s-EMG) signals generated by specific hand movements and then design and control a Robotic arm using Artificial Neural Network (ANN) to replicate human arm. Here the force prediction is a Regression process. A hand model has been successfully moved using servo motor that has been programmed based on the results obtained from sample data. The results shown in this paper illustrate how the Robotic arm performs.