EMG Control of haptic paddle

Jun 21, 2021
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Final project for MICRO-553 Haptic human robot interfaces
Students: Chuanfang Ning, Dorian Bignet
Lecturer: Prof. Mohamed Bouri
Supervisor: Dr. Evgenia Roussinova

The aim of this specialization project is to design and implement a control strategy allowing a user to control the haptic paddle through the contraction of a muscle, which is recorded by electromyography (EMG). The lab specialisation includes:

  1. processing and filtering of raw EMG signal
  2. developing EMG control strategies of haptic paddle
  3. applying the control strategies to 3 different application:
  • Assistive use case: facilate human in strength tasks
  • Rehabilitation use case: reinforce muscle fibers and help reinnervation after a stroke
  • Grasping use case: combined position & torque control for hand prosthesis

More details can be found in the report.

Demo
Fig. 1 Band-pass filtered signal
 Demo
Fig. 2 RMS filtered signal
 Demo
Fig. 3 Moving threshold filtered signal
Demo
Fig. 4 Tremored EMG control
 Demo
Fig. 5 Tremor-free EMG control (+moving threshold)
Control EMG rehabilitation
Chuanfang Ning
Chuanfang Ning
Msc Student in Robotics @ EPFL

Versatility makes Vision. Practice makes Proficiency.