| Presentation | 2002/3/12 EMG Controlled Manipulation with Viscoelastic Properties Mikiko HORI, Toshiyuki KONDO, Koji ITO, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Electomyogram(EMG) contains various information on human movements such as his or her intended motions, force and viscoelastic properties. In this paper, we propose a method for the variable viscoelastic manipulation using EMG signal as a control input. Joint torques of human arm are estimated from EMG levels of fiexiors and extensors, and the desired trajectries are generated by inputing the joint torques to human arm model. Viscoelastic contol as well as position control is performed on-line according to EMG signals.The proposed method is applied to some manipulation tasks, and it is confirmed that the method is useful. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | variable viscoelastic control / EMG signals / human interface |
| Paper # | MBE2001-185 |
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| Conference Information | |
| Committee | MBE |
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| Conference Date | 2002/3/12(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | ME and Bio Cybernetics (MBE) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | EMG Controlled Manipulation with Viscoelastic Properties |
| Sub Title (in English) | |
| Keyword(1) | variable viscoelastic control |
| Keyword(2) | EMG signals |
| Keyword(3) | human interface |
| 1st Author's Name | Mikiko HORI |
| 1st Author's Affiliation | Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology() |
| 2nd Author's Name | Toshiyuki KONDO |
| 2nd Author's Affiliation | Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology |
| 3rd Author's Name | Koji ITO |
| 3rd Author's Affiliation | Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology |
| Date | 2002/3/12 |
| Paper # | MBE2001-185 |
| Volume (vol) | vol.101 |
| Number (no) | 734 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |