The Open Automation and Control Systems Journal

2015, 7 : 770-777
Published online 2015 July 31. DOI: 10.2174/1874444301507010770
Publisher ID: TOAUTOCJ-7-770

Intelligent Bionic Artificial Arms Control Based on sEMG

Shu Qiao , Dan Ding and Ruiyou Zhu
Physical Testing Center Liaoning Shihua University, Fushun 113001, P.R. China.

ABSTRACT

The correlations between signal and muscle activities in different motion patterns can be achieved by analyzing and processing the surface electromyographical signal (sEMG). In this paper, the results obtained by pattern recognition have been used to command the virtual intelligent arm, established with Adams, to finish the designated actions. A control algorithm called Active Disturbance Rejection Control is adopted, which is independent of exact mathematical model of the controlled object and easy to carry out. It is able to guarantee the control precision under the condition of strong uncertain disturbance and strong unknown nonlinearity, due to which, it can be applied to the control of bionic arm with a large number of DOF.

Keywords:

Surface electromyographical signal, Active Disturbance Rejection, Adams.