Robot end effector control with EMG measurements

U sklopu izrade rada proučena je i primijenjena elektromiografija kao mjerna metoda. Analizirana je anatomija podlaktice te su određene pozicije na koje se postavlja 5 Myoware senzora. Senzori su povezani s Arduino UNO mikrokontrolerom na kojem se čitaju i obrađuju signali. Električna aktivnost mišića mjeri se preko signala dobivenih sa senzora u svrhu njihove analize, obrade i primjene kao pomoć u upravljanju robotskim manipulatorom. Kao robotski manipulator koristio se napravljeni robotski prst kojeg pokreće servo motor. Njime se uz pomoć emg signala upravljalo preko svakog od ljudskih prstiju. Upravljanje preko ljudskih prstiju ostvareno je neovisno za svaki prst s minimalnim greškama radi interferencije. Upravljanje je postignuto preko napravljenog algoritma koji obrađuje i uspoređuje signale dobivene sa senzora te ovisno o tome koji su aktivni zadaje naredbe da se pokrene robotski manipulator. Upravljanje robotskim manipulatorom uz pomoć elektromiografije uspješno je testirano s visokom točnošću.As part of the project, electromyography as a measurement method was studied and applied. The anatomy of the forearm was analyzed and the positions of the 5 Myoware sensors were determined. Sensors are connected to the Arduino UNO microcontroller on which the signals are read and processed. The electrical activity of muscles is measured through signals received from sensors for the purpose of their analysis, processing and application as help in the control of a robotic manipulator. Robotic finger driven by a servo motor was used as a robotic manipulator. Robotic finger was controlled with emg signals generated from the human fingers. Control via human fingers is achieved independently for each finger with minimal errors due to interference. The control is achieved through a developed algorithm that processes and compares the signals received from the sensor and depending on which are active, sets the command to start the robotic manipulator. The control of the robotic manipulator with the help of electromyography has been successfully tested with high accuracy