EMG Controlled System Of 4-DOF Robotic Arm

Sintar, Junior (2019) EMG Controlled System Of 4-DOF Robotic Arm. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

Text (24 Pages) EMG Controlled System Of 4-DOF Robotic Arm.pdf - Submitted Version Download (1MB)

Abstract

Electromyography (EMG) provides an alternative way of providing signal responses from the muscle.As such, the recent trend in developing myoelectric devices have spark the interest in this specific field of study.This is because the traditional controllers lack in certain parts which reduce the utilization of limbs to control devices mainly the robotic arm. However, noise such as crosstalk, motion artifact, ambient noise and inherent noise have become a major issue when handling EMG signals.The preparation of electromyography requires more attention in terms of muscle group selection, electrode placement and condition of the surrounding as it will affect the signal output.The aim of this study was to develop a 4 degree-of-freedom (DOF) robotic arm that can be controlled using EMG signals.The correlation between the EMG signal and the robotic arm are required to identified to analyze the performance of robotic arm.Review on the actuator, electromyography methods and microcontroller are done to evaluate the techniques used from past researches.The methods of this project include identification the error percentage of the actuator, classification and validation of EMG signals based on hand gestures, the correlation between the characteristic of the EMG signals with the functionality and performance of the robotic arm.The experiment showed that the actuator produced minor percentage error and does not affect the robotic arm accuracy significantly.The sampling rate and arm position affect the EMG signal output. In addition,the controllability of the robotic arm was low because the motors are controlled independently.The objectives of the project are achieved as the EMG-controlled robotic arm has been successfully developed.The robotic arm is still available for improvement by adding multiple channel sensor and implementing a wireless system.

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