This paper proposes the control interface of a robotic wheelchair for sufferers from rheumatism. The proposed interface adopts electromyogram (EMG) signals as input signals for command generation based on functionally different effective muscle (FEM) theory. Sufferers from rheumatism can move not his joints but muscles. Therefore, EMG signals have a potential to become the helpful tool. In addition, FEM theory represents the relation between the direction of the output force at the end effector such as a wrist (or an ankle) and muscles of limbs. Thus, the proposed interface can realize the intuitive operation becomes possible. Experimental results evaluate the utility of the proposed control interface.
Command Generation for Mobile Robot by Using EMG Signals Based on FEM Theory
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