基于小腿表面肌电的智能机器人协同控制方法

doi:10.3969/j.issn.0258-8021. 2016. 04.001

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Abstract As a significant aspect of human-computer interaction, gait recognition technology has a broad prospect in robot control area. A method for intelligent robot cooperative control system was proposed by using single leg surface EMG-based gait recognition technology. The system achieved the classification and recognition among four different gaits (moving forward, moving backward, turning left and turning right) by using mutual information based minimal-redundancy-maximal-relevance (MRMR) algorithm, and built up a synchronous robot control system. Surface EMG (sEMG) signals were collected from 8 subjects to classify and recognize the gait, and then the recognition result was used to control the robot synchronous motion. The results of the experiment showed that the recognition accuracy of the system reached to 88%. Based on the proposed approach, a robot synchronous control system with good synchronous controlling performance and high controlling accuracy was built. In concusion, the leg EMG signal based robot cooperative control technology has the application potentials in the areas of civilian equipment control and human-computer interaction in the future.

Key words： leg surface electromyographic (sEMG) gait recognition minimal redundancy maximal relevance (MRMR) algorithm intelligent robot

Received: 11 April 2016

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R318

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	Articles by authors
	Xu Chaoli
	Lin Ke
	Yang Chen
	Wu Chaohua
	Gao Xiaorong

Cite this article:

Xu Chaoli,Lin Ke,Yang Chen, et al. Cooperative Intelligent Robot Control Method Using Leg Surface EMG Signals[J]. Chinese Journal of Biomedical Engineering, 2016, 35(4): 385-393.

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http://cjbme.csbme.org/EN/10.3969/j.issn.0258-8021. 2016. 04.001 OR http://cjbme.csbme.org/EN/Y2016/V35/I4/385

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