A Discrete-Time Algorithm for Stiffness Extraction from sEMG and Its Application in Antidisturbance Teleoperation
المؤلفون المشاركون
Yang, Chenguang
Li, Ruifeng
Liang, Peidong
Wang, Ning
المصدر
Discrete Dynamics in Nature and Society
العدد
المجلد 2016، العدد 2016 (31 ديسمبر/كانون الأول 2016)، ص ص. 1-11، 11ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2016-04-27
دولة النشر
مصر
عدد الصفحات
11
التخصصات الرئيسية
الملخص EN
We have developed a new discrete-time algorithm of stiffness extraction from muscle surface electromyography (sEMG) collected from human operator’s arms and have applied it for antidisturbance control in robot teleoperation.
The variation of arm stiffness is estimated from sEMG signals and transferred to a telerobot under variable impedance control to imitate human motor control behaviours, particularly for disturbance attenuation.
In comparison to the estimation of stiffness from sEMG, the proposed algorithm is able to reduce the nonlinear residual error effect and to enhance robustness and to simplify stiffness calibration.
In order to extract a smoothing stiffness enveloping from sEMG signals, two enveloping methods are employed in this paper, namely, fast linear enveloping based on low pass filtering and moving average and amplitude monocomponent and frequency modulating (AM-FM) method.
Both methods have been incorporated into the proposed stiffness variance estimation algorithm and are extensively tested.
The test results show that stiffness variation extraction based on the two methods is sensitive and robust to attenuation disturbance.
It could potentially be applied for teleoperation in the presence of hazardous surroundings or human robot physical cooperation scenarios.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Liang, Peidong& Yang, Chenguang& Wang, Ning& Li, Ruifeng. 2016. A Discrete-Time Algorithm for Stiffness Extraction from sEMG and Its Application in Antidisturbance Teleoperation. Discrete Dynamics in Nature and Society،Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1103538
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Liang, Peidong…[et al.]. A Discrete-Time Algorithm for Stiffness Extraction from sEMG and Its Application in Antidisturbance Teleoperation. Discrete Dynamics in Nature and Society No. 2016 (2016), pp.1-11.
https://search.emarefa.net/detail/BIM-1103538
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Liang, Peidong& Yang, Chenguang& Wang, Ning& Li, Ruifeng. A Discrete-Time Algorithm for Stiffness Extraction from sEMG and Its Application in Antidisturbance Teleoperation. Discrete Dynamics in Nature and Society. 2016. Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1103538
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1103538
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر