Affiliations: Tokyo Institute of Technology, R2-15, 4259 Nagatsuta-cho, Midori-ku, Yokohama 226-8503, Japan | CREST, Japan Science and Technology Agency, 4-1-8 Honcho Kawaguchi, Saitama 332-0012, Japan
Note:  Corresponding Author: Prof. Y. Koike, P & I Lab, Tokyo Institute of Technology, R2-15, 4259 Nagatsuta-cho, Midori-ku, Yokohama, 226-8503, Japan. Tel: +8145 924 5054; Fax: +8145 924 5016; Email: [email protected]
Abstract: The aim of this paper is to design a human–interface system, using EMG signals elicited by various wrist movements, to control a robot. EMG signals are normalized and based on joint torque. A three-layer neural network is used to estimate posture of the wrist and forearm from EMG signals. After training the neural network and obtaining appropriate weights, the subject was able to control the robot in real time using wrist and forearm movements.
Keywords: EMG signals, muscle, robot control, music instrument, human–interface