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EMG Classification 기반의 로봇의수 제어와 착용형 햅틱 디바이스 기반의 자기수용감각 피드백의 폐루프 통합시스템
차형도,양승운,안시온,박상현,박석호 제어로봇시스템학회 2021 제어로봇시스템학회 국내학술대회 논문집 Vol.2021 No.6
Many currently robotic prosthetic hands are controlled based on electromyography (EMG) signals, and amputees use their visual feedback to recognize robotic prosthetic hand movements. However, controlling robotic prosthetic hand without vision makes high cognitive loads and is inaccurate. To solve the limitations, we propose a wearable haptic device for proprioceptive feedback with high DOF and introduce a rule-based feedback method. Also, through various experiments, the recognition accuracy of the wearable haptic device for proprioceptive feedback was evaluated on 10 types of grips. And, to recognize the user's intentions, a CNN model for EMG classification was learned with 6 channel EMG signals. Finally, a closed-loop integrated system is constructed using the proposed wearable haptic device, the robotic prosthetic hand, and the EMG classification. We also evaluate the overall performance of the proposed integrated system through experiments on users.