Design Of Manipulator Controlling System Based On EMG

Electromyographic(EMG) signal which comes with muscle contractio has an popular application in the field of neurophysiology, rehabilitation medicine, sports science and pattern recognition and other areas. There has been a lot of patients with limb disabilities now. In order to help the patients with limb disabilities to get a better rehabilitation, more and more research institute is working to research and explore the manipulator controlling system based on EMG.Considering the surface EMG signal is weak and susceptible impressionable, we intend to design a manipulator controlling system based on EMG for hand-disabled. The system includes acquisition circuit, acquisition software, algorithm processor and control of the manipulator. The main work is focused on the design of EMG acquisition circuit. The EMG acquisition circuit is divided into analog part and digital part. The analog part adopts the chop-stabolized operational amplifier and instrument amplifier to form the preamplifier circuit, and adopts active high-pass filter for filtering decaying direct current component, and adopts trap circuit to remove power frequency interference, and adopts the chopper-stabilized operational amplifier to form the active low-pass filter. The digital part contains 16 bits analog-digital conversion chip, DSP and USB chip. After the processing of amplification, filtering and the analog-digital conversion, the EMG data will be processed by DSP, then it will be upload to PC through USB chip. Then through the removal of artifacts, feature extraction and pattern classification, the syetem can recognize gestures and parsed into corresponding commands to control the mechanical arm producing movement.After numerous tests, the manipulator controlling system based on EMG can collect surface EMG from the forearm of body. The syetem can recognize six gestures selected accurately and its recognition accuracy rate is above 92%. The test results show that the performance of the manipulator controlling system based on EMG is good. In the hand of the rehabilitation training of hand-disabled, the gesture recognition of the deaf and home automation system, entertainment games, and military training based on virtual hand, it all has great application prospect.