ABSTRACT
Assistive technology is critical to improving daily life of those with muscular issues such as Cerebral Palsy and Duchenne Muscular Dystrophy by augmenting their activities of daily living (ADL). Robotic manipulators are one solution for helping with ADL; however, intuitive, accurate interfaces for higher degrees of freedom (DOF) robotic arms are still lacking. An intuitive control system based on artificial neural network (ANN) classification of real-time surface electromyography (sEMG) signals from the user's forearm to detect nine hand gestures and control the movement of the 6 DOF robotic arm is proposed in this paper. The regular machine learning classifiers with the highest classification accuracies were ensemble-bagged trees at 90.3% and cubic SVM at 89.6%, with linear SVM being 84.8%. However, the classifier chosen was a scaled conjugate gradient backpropagation neural network model, with a classification accuracy of 85%, due to accuracy and usability in a Simulink model. The trained ANN model was incorporated into the control system for the robotic arm and tested in virtual environment. Preliminary testing of the robotic arm shows that the forward kinematic control system works well for most hand poses. Future improvements will include more processing of the sEMG signals and training on sEMG data from multiple subjects for a generalized ANN model.
