Experimental Study of the Sensitivity Adjustment Technique for Exoskeleton Arm

Sukhanov, A.N.; Ermolov, I.L.; Knyazkov, M.M.; Semenov, E.A.; Belchenko, F.M.

Авторы: Sukhanov A.N., Ermolov I.L., Knyazkov M.M., Semenov E.A., Belchenko F.M.
Сборник: Ronzhin, A., Meshcheryakov, R., Xiantong, Z. (eds) Interactive Collaborative Robotics. ICR 2022
Серия: Lecture Notes in Computer Science
Том: 13719
Год издания: 2022
Издательство: Springer Nature
Местоположение издательства: Switzerland
Первая страница: 167
Последняя страница: 178
Номер статьи: 15
DOI: 10.1007/978-3-031-23609-9_15
Аннотация: Manipulating objects during theworking day affects a person’s fatigue,his muscle tone changes . Therefore, when applying biofeedback algorithms basedon an electromyogram technique, it is important to take into account the dynamicsof such changes and research the possibility of adapting the control systemto the psychophysical state of the operator. This technique is being developed aspart of the study of the remote control possibility of a robotic platform designedfor cleaning ship hulls. The use of this control technique may also be relevant inhuman-machine systems designed to manipulate heavy objects, for example, duringloading and unloading operations at docks or assembly operations. The studyconsiders the possibility of using the operator’s electromyogram as a source signalfor exoskeleton motor control. This paper shows the features of the variation inthe electromyogram envelope during the implementation of rapid movements andthe effect of muscle deactivation on the attenuation of the amplitude of the electromyogramenvelope on the example of the biceps brachii muscle of the operator.The results of the application of the method of adjusting the sensitivity of theactive exoskeleton control system to the operator’s actions, previously developedwithin the project, are shown.ISSN 0302-9743ISSN 1611-3349 (electronic)ISBN 978-3-031-23608-2 ISBN 978-3-031-23609-9 (eBook)https://doi.org/10.1007/978-3-031-23609-9
Добавил в систему: Суханов Артём Николаевич

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Experimental Study of the Sensitivity Adjustment Technique for Exoskeleton Armстатья Исследовательская статья

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