scholarly journals Surface Electromyographic Control of a Humanoid Robot

2013 ◽  
Author(s):  
Alex W. Grammar ◽  
Robert L. Williams
Keyword(s):  
Open Source ◽  
Elbow Joint ◽  
Humanoid Robot ◽  
Joint Angle ◽  
Biceps Brachii ◽  
Source Surface ◽  
Electromyographic Activity ◽  
Angle Measuring ◽  
Human Arm ◽  
The Relationship

This paper details the development of an open-source surface electromyographic interface for controlling 1-DOF for the DARwIn-OP humanoid robot. This work also details the analysis of the relationship between surface electromyographic activity of the Biceps Brachii muscle and the angle of the elbow joint for the pseudo-static unloaded arm case. The human arm was mechanically modeled for a two link system actuated by a single muscle. The SEMG activity was found to be directly proportional to joint angle using a combination of custom joint angle measuring hardware and a surface electromyographic measuring circuit. This relationship allowed for straightforward control of the robot elbow joint directly. The interface was designed around the Arduino Microcontroller; another open-source platform. Software for the Arduino and DARwIn-OP were drawn from open source resources, allowing the entire system to be comprised of open-source components. A final surface electromyographic measuring and signal conditioning circuit was constructed. Data recording and processing software was also coded for the Arduino, thus achieving control of the robotic platform via surface electromyography.

scholarly journals Experimental study on the sEMG of "joint angle effect" of human muscle strength—Taking biceps brachii as an example

2020 ◽  
Vol 145 ◽  
pp. 01021
Author(s):  
Jianxin Gao ◽  
Cheng Han ◽  
Wenying Huang ◽  
Jianjun Gao ◽  
Liaoliang Nie
Keyword(s):  
Surface Electromyography ◽  
Elbow Joint ◽  
High Speed ◽  
Joint Angle ◽  
Biceps Brachii ◽  
Contraction Force ◽  
High Definition ◽  
Whole Process ◽  
Angle Measuring ◽  
Angle Effect

In the experiment, the author used wave plus wireless surface electromyography system (SEMs + 3-axis acceleration sensor) made in Italy and wave wireless EMG software system, high-definition high-speed camera and human joint angle measuring instrument. Taking human biceps brachii as an example, the static and dynamic isometric contraction of biceps brachii was completed surface electromyography. In the experiment, the surface electromyography of biceps brachii was measured at 30°, 60°, 90°, 120°, 150°, 180° and the surface electromyography of biceps brachii was measured at the same time when the biceps brachii was not loaded or when the biceps brachii was loaded. Secondly, the surface electromyography of biceps brachii was measured at the same time when the biceps brachii completed the whole process of flexion and extension of the elbow (centripetal and centrifugal). Finally, the paper combined with HD The effect of joint angle on the contraction of biceps brachii muscle was analyzed by camera technique. The results show that the static contraction force of biceps brachii is different when the elbow joint is at different angles; in addition, when the dynamic contraction, the contraction force of biceps brachii is inversely proportional to the angle of elbow joint.

A Robot Arm Actuated by Mckibben Muscles

2011 ◽  
Vol 66-68 ◽  
pp. 654-658
Author(s):  
Huai Lin Zhao ◽  
Jian Ling Bian ◽  
Jian Jiang ◽  
Wei Ming Ji
Keyword(s):  
Shoulder Joint ◽  
Elbow Joint ◽  
Humanoid Robot ◽  
Anatomical Structure ◽  
Robot Arm ◽  
Experiment System ◽  
Human Arm ◽  
Muscle Formation ◽  
The Relationship

A humanoid robot arm with both shoulder joint and elbow joint is built. It is actuated by pieces of Mckibben muscles. Its skeleton-muscle formation is similar to the anatomical structure of the human arm. A pneumatic experiment system is established for supporting and testing the robot arm. The relationship between the robot arm actions and the Mckibben muscles is studied. Some main actions of the robot arm including the elbow bending, the whole arm arising and the rotating around the arm axis are realized.

scholarly journals Muscle length and joint angle influence spinal but not corticospinal excitability to the biceps brachii across forearm postures

2019 ◽  
Vol 122 (1) ◽  
pp. 413-423 ◽  
Author(s):  
Davis A. Forman ◽  
Daniel Abdel-Malek ◽  
Christopher M. F. Bunce ◽  
Michael W. R. Holmes
Keyword(s):  
Isometric Contraction ◽  
Elbow Joint ◽  
Joint Angle ◽  
Biceps Brachii ◽  
Motor Evoked Potentials ◽  
Muscle Length ◽  
Elbow Flexion ◽  
Corticospinal Excitability ◽  
Biceps Brachii Muscle ◽  
Spinal Excitability

Forearm rotation (supination/pronation) alters corticospinal excitability to the biceps brachii, but it is unclear whether corticospinal excitability is influenced by joint angle, muscle length, or both. Thus the purpose of this study was to separately examine elbow joint angle and muscle length on corticospinal excitability. Corticospinal excitability to the biceps and triceps brachii was measured using motor evoked potentials (MEPs) elicited via transcranial magnetic stimulation. Spinal excitability was measured using cervicomedullary motor evoked potentials (CMEPs) elicited via transmastoid electrical stimulation. Elbow angles were manipulated with a fixed biceps brachii muscle length (and vice versa) across five unique postures: 1) forearm neutral, elbow flexion 90°; 2) forearm supinated, elbow flexion 90°; 3) forearm pronated, elbow flexion 90°; 4) forearm supinated, elbow flexion 78°; and 5) forearm pronated, elbow flexion 113°. A musculoskeletal model determined biceps brachii muscle length for postures 1–3, and elbow joint angles ( postures 4–5) were selected to maintain biceps length across forearm orientations. MEPs and CMEPs were elicited at rest and during an isometric contraction of 10% of maximal biceps muscle activity. At rest, MEP amplitudes to the biceps were largest during supination, which was independent of elbow joint angle. CMEP amplitudes were not different when the elbow was fixed at 90° but were largest in pronation when muscle length was controlled. During an isometric contraction, there were no significant differences across forearm postures for either MEP or CMEP amplitudes. These results highlight that elbow joint angle and biceps brachii muscle length can each independently influence spinal excitability. NEW & NOTEWORTHY Changes in upper limb posture can influence the responsiveness of the central nervous system to artificial stimulations. We established a novel approach integrating neurophysiology techniques with biomechanical modeling. Through this approach, the effects of elbow joint angle and biceps brachii muscle length on corticospinal and spinal excitability were assessed. We demonstrate that spinal excitability is uniquely influenced by joint angle and muscle length, and this highlights the importance of accounting for muscle length in neurophysiological studies.

High torque realization of the stepping over gait for a humanoid robot

2020 ◽  
Vol 47 (4) ◽  
pp. 473-487
Author(s):  
Keqiang Bai ◽  
Yunzhi Luo ◽  
Guanwu Jiang ◽  
Guoli Jiang ◽  
Li Guo
Keyword(s):  
Design Methodology ◽  
Humanoid Robot ◽  
Joint Angle ◽  
Stability Margin ◽  
Whole Body ◽  
Dynamics Model ◽  
Content Type ◽  
Body Dynamics ◽  
High Torque ◽  
The Relationship

Purpose This paper aims to propose a pulsing type joint servo driver-based obstacle surmounting method for a humanoid robot according to the whole-body dynamics model, which fully takes into account the relationship between the whole-body stability margin and instantaneous torque. Design/methodology/approach First, the authors designed a new practical instantaneous large torque strategy for a pulsing type joint servo driver by modeling the whole-body dynamics of the humanoid robot. The work also considered joint angle planning based on the dynamic model for crossing obstacles. Second, in the simulation and experimentation, the instantaneous torque of the driver is used to realize successful crossing of obstacles by the humanoid robot. This verifies the correctness of the whole-body dynamics model and the feasibility of the method for crossing obstacles. Findings The experimental data and results are described and analyzed, showing that the proposed method is feasible and effective through simulation and implementation. Originality/value The main contribution is the humanoid robot’s actuation control technology and humanoid action realization, which could be used for squatting and moving heavy objects to help a humanoid robot adapt effectively.

Analysis of Workspace and Rotation Ability for a Novel Humanoid Robot Elbow Joint

2009 ◽  
Vol 69-70 ◽  
pp. 585-589 ◽  
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin
Keyword(s):  
Elbow Joint ◽  
Parallel Mechanism ◽  
Humanoid Robot ◽  
Smooth Boundary ◽  
Evaluation Index ◽  
Vector Method ◽  
Input And Output ◽  
Spherical Parallel Mechanism ◽  
Relationship Of ◽  
The Relationship

The workspace and the kinematic transmission play important role on the design and optimation of the eblow joint. In this paper, a novel humanoid robot elbow joint based on 2-DOF orthogonal spherical parallel mechanism is proposed. Position of elbow joint is analyzed using the vector method and projection theory. The kinematic balance equation of the eblow joint is established by analyzing the relationship of its input and output velocity. The kinematics transmission evaluation index and the global kinematic transmission evaluation index of the elbow are defined, and the distribution of the global kinematics transmission evaluation index in the workspace is drawn. And rotation ability of the elbow joint is analyzed. The analytical results indicate the elbow has advantages of big volume, smooth boundary, good kinematic transmission, strong rotation ability, which can provide theoretical base for the applications of the elbow.

scholarly journals Effect of elbow joint angles on electromyographic activity versus force relationships of synergistic muscles of the triceps brachii

PLoS ONE ◽  
2021 ◽  
Vol 16 (6) ◽  
pp. e0252644
Author(s):  
Hiroshi Akima ◽  
Hisashi Maeda ◽  
Teruhiko Koike ◽  
Koji Ishida
Keyword(s):  
Elbow Joint ◽  
Joint Angle ◽  
Surface Emg ◽  
Emg Activity ◽  
Electromyographic Activity ◽  
Joint Angles ◽  
Triceps Brachii ◽  
Neuromuscular Activation ◽  
Force Matching ◽  
Force Relationship

The electromyographic (EMG) activity and force relationship, i.e. EMG-force relationship, is a valuable indicator of the degree of the neuromuscular activation during isometric force production. However, there is minimal information available regarding the EMG-force relationship of individual triceps brachii (TB) muscles at different elbow joint angles. This study aimed to compare the EMG-force relationships of the medial (TB-Med), lateral (TB-Lat), and long heads (TB-Long) of the TB. 7 men and 10 women performed force matching isometric tasks at 20%, 40%, 60%, and 80%maximum voluntary contraction (MVC) at 60°, 90°, and 120° of extension. During the submaximal force matching tasks, the surface EMG signals of the TB-Med, TB-Lat, and TB-Long were recorded and calculated the root mean square (RMS). RMS of each force level were then normalized by RMS at 100%MVC. For the TB-Med, ultrasonography was used to determine the superficial region of the muscle that faced the skin surface to minimize cross-talk. The joint angle was monitored using an electrogoniometer. The elbow extension force, elbow joint angle, and surface EMG signals were simultaneously sampled at 2 kHz and stored on a personal computer. The RMS did not significantly differ between the three muscles, except between the TB-Med and TB-Lat during 20%MVC at 60°. The RMS during force levels of ≥ 60%MVC at 120° was significantly lower than that at 60° or 90° for each muscle. The sum of difference, which represents the difference in RMS from the identical line, did not significantly differ in any of the assessed muscles in the present study. This suggests that a relatively smaller neuromuscular activation could be required when the elbow joint angle was extended. However, neuromuscular activation levels and relative force levels were matched in all three TB synergists when the elbow joint angle was at 90° or a more flexed position.

scholarly journals Force and Electromyographic Responses of the Biceps Brachii after Eccentric Exercise in Athletes and non-Athletes

2019 ◽  
Vol 68 (1) ◽  
pp. 203-210 ◽  
Author(s):  
Adam Kawczyński
Keyword(s):  
Eccentric Exercise ◽  
Elbow Joint ◽  
Joint Angle ◽  
Biceps Brachii ◽  
Isometric Force ◽  
Emg Activity ◽  
Elbow Flexors ◽  
Force Response ◽  
Baseline Values ◽  
Maximal Isometric Force

Abstract The aim of this study was to compare skeletal muscle response to elbow flexors eccentric exercise in athletes and non-athletes. A set of eccentric (ECC) exercises was performed in a group of 12 athletes and 12 non-athlete controls. Maximal isometric force, electromyographic (EMG) activity of the biceps brachii and the resting elbow angle were assessed before, immediately, 48 hours, 5 and 10 days after high-intensity ECC exercises. During the set of the ECC exercises each participant performed 25 eccentric contractions of elbow flexors. Each contraction consisted of lowering a dumbbell from the flexed (elbow joint angle: $\left. 5{{0}^{\underline{{}^\circ }}} \right)$ to the extended elbow (elbow joint angle: $\left. 18{{0}^{\underline{{}^\circ }}} \right)$ position. The weight of the dumbbell was set at 80% of one-repetition maximum (1RM). The ECC contractions caused a decrease in maximal isometric force in both groups. The variable dropped by 8% in non-athletes and by 24% in athletes. Furthermore, the EMG RMS increased significantly only for non-athletes 10 days after the ECC exercise compared to baseline values. The present study showed different effects of ECC exercise on force and EMG in athletes and non-athletes, indicating a more pronounced force response in athletes and electromyographic response in non-athletes.

scholarly journals Influence of upper limb training and analyzed muscles on estimate of physical activity during cereal grinding using saddle quern and rotary quern

2020 ◽  
Author(s):  
Michal Struška ◽  
Martin Hora ◽  
Thomas R. Rocek ◽  
Vladimír Sládek
Keyword(s):  
Upper Limb ◽  
Muscle Activation ◽  
Biceps Brachii ◽  
Muscle Model ◽  
Electromyographic Activity ◽  
Replication Studies ◽  
Limb Loading ◽  
Limb Muscles ◽  
The Relationship ◽  
Muscle Models

AbstractExperimental grinding has been used to study the relationship between human humeral robusticity and cereal grinding in the early Holocene. However, such replication studies raise two questions regarding the robusticity of the results: whether female nonathletes used in previous research are sufficiently comparable to early agricultural females, and whether previous analysis of muscle activation of only four upper limb muscles is sufficient to capture the stress of cereal grinding on upper limb bones. We test the influence of both of these factors. Electromyographic activity of eight upper limb muscles was recorded during cereal grinding in an athletic sample of 10 female rowers and a nonathletic sample of 25 females and analyzed using both an eight- and four-muscle model. Athletes had lower activation than nonathletes in the majority of measured muscles, but most of these differences were non-significant. Furthermore, both athletes and nonathletes had lower muscle activation during saddle quern grinding than rotary quern grinding suggesting that the nonathletic sample can be used to model early agricultural females during saddle and rotary quern grinding.Similarly, in both eight- and four-muscle models, upper limb loading was lower during saddle quern grinding than during rotary quern grinding, suggesting that the upper limb muscles may be reduced to the previously used four-muscle model for evaluation of the upper limb loading during cereal grinding. Another implication of our measurements is to question the assumption that skeletal indicators of high involvement of the biceps brachii muscle can be interpreted as specifically indicative of saddle quern grinding.

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