로봇학회논문지 제2권 제3호 (p.205-211)

표면 근전도 센서 프로토타입 개발 및 인간의 팔꿈치 관절 각도 추출 응용

Development of Surface EMG Sensor Prototype and Its Application for Human Elbow Joint Angle Extraction
키워드 :
Surface EMG sensor,Analog filters,Digital signal processing

초록

In this paper, the prototype of surface EMG (ElectroMyoGram) sensor is developed for the robotic rehabilitation applications, and the developed sensor is composed of the electrodes, analog signal amplifiers, analog filters, ADC (analog to digital converter), and DSP (digital signal processor) for coding the application example. Since the raw EMG signal is very low voltage, it is amplified by about one thousand times. The artifacts of amplified EMG signal are removed by using the band-pass filter. Also, the processed analog EMG signal is converted into the digital form by using ADC embedded in DSP. The developed sensor shows approximately the linear characteristics between the amplitude values of the sensor signals measured from the biceps brachii of human upper arm and the joint angles of human elbow. Finally, to show the performance of the developed EMG sensor, we suggest the application example about the real-time human elbow motion acquisition by using the developed sensor.