iMOVE: Development of a hybrid control interface based on sEMG and movement signals for an assistive robotic manipulator

For many people with upper limb disabilities, simple activities of daily living such as drinking, opening a door, or pushing an elevator button require the assistance of a caregiver; which reduces the independence of the individual. Assistive robotic systems controlled via human-robot interface coul...

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Detalhes bibliográficos
Autor: Ramon Borràs, Marina
Formato: tesis de maestría
Fecha de publicación:2020
País:España
Recursos:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/233576
Acesso em linha:http://hdl.handle.net/10261/233576
Access Level:acceso abierto
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spelling iMOVE: Development of a hybrid control interface based on sEMG and movement signals for an assistive robotic manipulatorRamon Borràs, MarinaFor many people with upper limb disabilities, simple activities of daily living such as drinking, opening a door, or pushing an elevator button require the assistance of a caregiver; which reduces the independence of the individual. Assistive robotic systems controlled via human-robot interface could enable these people to perform this kind of tasks autonomously again and thereby increase their independence and quality of life. Moreover, this interface could encourage rehabilitation of motor functions because the individual would require to perform its remaining body movements and muscle activity to provide control signals. This project aims at developing a novel hybrid control interface that combines remaining movements and muscle activity of the upper body to control position and impedance of a robotic manipulator. This thesis presents a Cartesian position control system for KINOVA Gen3 robotic arm, which performs a proportional-derivative control low based to the Jacobian transpose method, that does not require inverse kinematics. A second control is proposed to change the robot’s rigidity in real-time based on measurements of muscle activity (sEMG). This control allows the user to modulate the robot’s impedance while performing a task. Moreover, it presents a body-machine interface that maps the motions of the upper body (head and shoulders) to the space of robot control signals. Its uses the principal component analysis algorithm for dimensionality reduction. The results demonstrate that combining the three methods presented above, the user can control robot positions with head and shoulders movements, while also adapting the robot’s impedance depending on its muscle activation. In the future work the performance of this system is going to be tested in patients with severe movement impairmentsUniversidad Politécnica de CataluñaCSIC-UPC - Instituto de Robótica e Informática Industrial (IRII)Lobo Prat, JoanColomé, AdriàOcampo-Martinez, CarlosConsejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]2021202120202021info:eu-repo/semantics/masterThesishttp://purl.org/coar/resource_type/c_bdcchttp://hdl.handle.net/10261/233576reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Ingléshttp://hdl.handle.net/2117/332127Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/2335762026-05-22T06:33:51Z
dc.title.none.fl_str_mv iMOVE: Development of a hybrid control interface based on sEMG and movement signals for an assistive robotic manipulator
title iMOVE: Development of a hybrid control interface based on sEMG and movement signals for an assistive robotic manipulator
spellingShingle iMOVE: Development of a hybrid control interface based on sEMG and movement signals for an assistive robotic manipulator
Ramon Borràs, Marina
title_short iMOVE: Development of a hybrid control interface based on sEMG and movement signals for an assistive robotic manipulator
title_full iMOVE: Development of a hybrid control interface based on sEMG and movement signals for an assistive robotic manipulator
title_fullStr iMOVE: Development of a hybrid control interface based on sEMG and movement signals for an assistive robotic manipulator
title_full_unstemmed iMOVE: Development of a hybrid control interface based on sEMG and movement signals for an assistive robotic manipulator
title_sort iMOVE: Development of a hybrid control interface based on sEMG and movement signals for an assistive robotic manipulator
dc.creator.none.fl_str_mv Ramon Borràs, Marina
author Ramon Borràs, Marina
author_facet Ramon Borràs, Marina
author_role author
dc.contributor.none.fl_str_mv Lobo Prat, Joan
Colomé, Adrià
Ocampo-Martinez, Carlos
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
description For many people with upper limb disabilities, simple activities of daily living such as drinking, opening a door, or pushing an elevator button require the assistance of a caregiver; which reduces the independence of the individual. Assistive robotic systems controlled via human-robot interface could enable these people to perform this kind of tasks autonomously again and thereby increase their independence and quality of life. Moreover, this interface could encourage rehabilitation of motor functions because the individual would require to perform its remaining body movements and muscle activity to provide control signals. This project aims at developing a novel hybrid control interface that combines remaining movements and muscle activity of the upper body to control position and impedance of a robotic manipulator. This thesis presents a Cartesian position control system for KINOVA Gen3 robotic arm, which performs a proportional-derivative control low based to the Jacobian transpose method, that does not require inverse kinematics. A second control is proposed to change the robot’s rigidity in real-time based on measurements of muscle activity (sEMG). This control allows the user to modulate the robot’s impedance while performing a task. Moreover, it presents a body-machine interface that maps the motions of the upper body (head and shoulders) to the space of robot control signals. Its uses the principal component analysis algorithm for dimensionality reduction. The results demonstrate that combining the three methods presented above, the user can control robot positions with head and shoulders movements, while also adapting the robot’s impedance depending on its muscle activation. In the future work the performance of this system is going to be tested in patients with severe movement impairments
publishDate 2020
dc.date.none.fl_str_mv 2020
2021
2021
2021
dc.type.none.fl_str_mv info:eu-repo/semantics/masterThesis
http://purl.org/coar/resource_type/c_bdcc
format masterThesis
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/233576
url http://hdl.handle.net/10261/233576
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv http://hdl.handle.net/2117/332127
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Universidad Politécnica de Cataluña
CSIC-UPC - Instituto de Robótica e Informática Industrial (IRII)
publisher.none.fl_str_mv Universidad Politécnica de Cataluña
CSIC-UPC - Instituto de Robótica e Informática Industrial (IRII)
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.812429

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