Study of telerobot with tactile tele-presence and myoelectric bionic control

摘要

Design a telerobot that has a tactile sensing, driven by surface electromyography (SEMG). The tactile sensor applying PVDF as a sensitive material, fitted the finger of robot, has a good dynamic response. During robot’s holding or touching the objects, the tactile signals could be created though the tactile sensor which is sent to a electric shock generator, and therefore the manipulator gains the sense via the electric shock generator, hence leads to the Tactile Tele-Presence. SEMG were collected from the forearm when they open and close palm, turn their wrist or moved their elbow flexion-extension. Using the improved power spectrum ratio and data fusion method based on statistical decision-making of Bayes, movements of the hand is recognized from SEMG. These signals are then converted to the control signal which drives manipulator do the according movement as the human. It is a good way that the robot is controlled remotely by SEMG combining with tactile sensor.