While the experimental results are shown to be effective for robot motion governing, the limitation of this system is that fixed CVs are suitable for robot motion governing for about 5
~ 10 minutes, depending on the complexity of the motion. After that, the fatigue of the muscle led to inconsistent classification. Consequently, the proposed system should not be used when the subject feels fatigued. Besides, the movements involved in the proposed system only focus on the upper limb motions, and the subjects are all sound limbs and younger. Whether it is suitable for governing full limb movements and operating by physically weak individual remain to be investigated. In future works, we plan to lengthen the operation time by adopting the strategy of varying CVs with the detection of the fatigue in the system. We also plan to extend the proposed system for full limb movement governing. In addition, we also demonstrate the performance of the proposed system for subjects that are the physically handicapped and with age.
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Publication List
Journal Papers
[1] H. J. Liu, and K. Y. Young, “An adaptive upper arm EMG-based robot control system,”
International Journal of Fuzzy Systems, vol. 12, no. 3, pp 181-189, Sep. 2010.
[2] H. J. Liu, and K. Y. Young, “An efficient approach for EMG-based robot control,”
International Journal of Electrical Engineering, vol. 17, no. 5, pp 327-336, Oct. 2010.
[3] H. J. Liu, and K. Y. Young, “Applying wave-variable-based sliding mode impedance control for robot teleoperation,” Accepted by International Journal of Robotics and Automation.
[4] H. J. Liu, and K. Y. Young, “Upper limb EMG-based robot motion governing using empirical mode decomposition and adaptive neural fuzzy inference system,” in preparation for submission to Journal of Intelligent and Robotic Systems.
Conference Papers
[1] H. J. Liu, and K. Y. Young, “Robot motion governing using upper limb EMG signal based on empirical mode decomposition,” IEEE Conference on Systems Man and Cybernetics, pp. 441-446, Oct. 2010.
[2] H. J. Liu and K. Y. Young, ”Dealing with a bilateral teleoperation system with varying
time delay,” National Symposium on System Science and Engineering, Taipei, Taiwan, June, 2007.
[3] H. J. Liu, P. C. Liu, and K. Y. Young, “Robot motion governing based on forearm EMG signals,” International Conference on Service and Interactive Robotics, Taipei, Taiwan, August, 2009.