An sEMG Signal-based Robotic Arm for Rehabilitation applying Fuzzy Logic
Received: 26 February 2024 | Revised: 5 April 2024 | Accepted: 8 April 2024 | Online: 19 April 2024
Corresponding author: Ngoc-Khoat Nguyen
Abstract
The recent surge in biosignal-based control signifies a profound paradigm shift in biomedical engineering. This innovative approach has injected new life into control theory, ushering in advancements in human-body interaction and control. Surface Electromyography (sEMG) emerges as a pivotal biosignal, attracting considerable attention for its wide-ranging applications across medicine, science, and engineering, particularly in the domain of functional rehabilitation. This study delves into the use of sEMG signals for controlling a robotic arm, with the overarching aim of improving the quality of life for people with disabilities in Vietnam. Raw sEMG signals are acquired via appropriate sensors and subjected to a robust processing methodology involving analog-to-digital conversion, band-pass and low-pass filtering, and envelope detection. To demonstrate the efficacy of the processed sEMG signals, this study introduces a robotic arm model capable of mimicking intricate human finger movements. Employing a fuzzy logic control strategy, the robotic arm demonstrates successful operation in experimental trials, characterized by swift response times, thereby positioning it as a valuable assistive device for people with disabilities. This investigation not only validates the feasibility of sEMG-based control for robotic arms, but also underscores its potential to significantly improve the lives of individuals with disabilities, a demographic that represents a substantial portion (approximately 8%) of the Vietnamese population.
Keywords:
sEMG, robotic arm, digital signal processing, fuzzy logic control, rehabilitationDownloads
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Copyright (c) 2024 Ngoc-Khoat Nguyen, Thi-Mai-Phuong Dao, Tien-Dung Nguyen, Duy-Trung Nguyen, Huu-Thang Nguyen, Van-Kien Nguyen
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