Electromyography Based Human-Robot Interfaces for the Control of Artificial Hands and Wearable Devices

Meattini, Roberto (2018) Electromyography Based Human-Robot Interfaces for the Control of Artificial Hands and Wearable Devices, [Dissertation thesis], Alma Mater Studiorum Università di Bologna. Dottorato di ricerca in Ingegneria biomedica, elettrica e dei sistemi, 30 Ciclo. DOI 10.6092/unibo/amsdottorato/8592.
Documenti full-text disponibili:
[img]
Anteprima
Documento PDF (English) - Richiede un lettore di PDF come Xpdf o Adobe Acrobat Reader
Disponibile con Licenza: Creative Commons Attribution Non-commercial Share Alike (CC BY-NC-SA 3.0) .
Download (55MB) | Anteprima

Abstract

The design of robotic systems is currently facing human-inspired solutions as a road to replicate the human ability and flexibility in performing motor tasks. Especially for control and teleoperation purposes, the human-in-the-loop approach is a key element within the framework know as Human-Robot Interface. This thesis reports the research activity carried out for the design of Human-Robot Interfaces based on the detection of human motion intentions from surface electromyography. The main goal was to investigate intuitive and natural control solutions for the teleoperation of both robotic hands during grasping tasks and wearable devices during elbow assistive applications. The design solutions are based on the human motor control principles and surface electromyography interpretation, which are reviewed with emphasis on the concept of synergies. The electromyography based control strategies for the robotic hand grasping and the wearable device assistance are also reviewed. The contribution of this research for the control of artificial hands rely on the integration of different levels of the motor control synergistic organization, and on the combination of proportional control and machine learning approaches under the guideline of user-centred intuitiveness in the Human-Robot Interface design specifications. From the side of the wearable devices, the control of a novel upper limb assistive device based on the Twisted String Actuation concept is faced. The contribution regards the assistance of the elbow during load lifting tasks, exploring a simplification in the use of the surface electromyography within the design of the Human-Robot Interface. The aim is to work around complex subject-dependent algorithm calibrations required by joint torque estimation methods.

Abstract
Tipologia del documento
Tesi di dottorato
Autore
Meattini, Roberto
Supervisore
Dottorato di ricerca
Ciclo
30
Coordinatore
Settore disciplinare
Settore concorsuale
Parole chiave
sEMG, Human-Robot Interface, Robotic Hand, Wearable Device
URN:NBN
DOI
10.6092/unibo/amsdottorato/8592
Data di discussione
8 Maggio 2018
URI

Altri metadati

Statistica sui download

Gestione del documento: Visualizza la tesi

^