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Muscle Control Robotic Arm

Author(s):

Nabeel Ahmed Khan , ANJUMAN ISLAM KALSEKAR TECHNICAL CAMPUS; Ahraz Ahmed Khan, ANJUMAN ISLAM KALSEKAR TECHNICAL CAMPUS; Khan Salman, ANJUMAN ISLAM KALSEKAR TECHNICAL CAMPUS; Shahroz Ansari, ANJUMAN ISLAM KALSEKAR TECHNICAL CAMPUS; Prof. Arshad Qureshi

Keywords:

Arm, Electromyography, Exoskeleton, Power Amplifiers, Robots

Abstract

This is about developing robotic exoskeleton arm to assist motion of a hand of physically weak persons such as elderly, disabled, injured persons and can also be used as power exoskeleton. The robotic exoskeleton is controlled basically based on the electromyogram (EMG) signals. The Human– Machine interface was set at the neuromuscular level, by using the neuromuscular signal (EMG) as the primary command signal for the exoskeleton system. The EMG signal along with the joint kinematics were fed into a microprocessor which in turn predicted the muscle moments on the elbow joint. The exoskeleton structure under study was a two-link, two-joint mechanism, corresponding to the arm limbs and joints, which was mechanically linked (worn) by the human operator. In the present setup the shoulder joint was kept fixed at given positions and the actuator was mounted on the exoskeleton elbow joint. The operator has to carry manipulated external weight. The remaining weight on the arm will be carried by the exoskeleton actuator. We are using linear actuator for the movement.

Other Details

Paper ID: IJSRDV7I30078
Published in: Volume : 7, Issue : 3
Publication Date: 01/06/2019
Page(s): 16-19

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