Controle de braço robótico a partir do uso de sinais eletromiográficos (EMG)

Abstract

Biomedical Engineering, originated in the 1970s, represents a dynamic intersection of various disciplines aimed at contributing to the development of innovative tools and equipment in the field of medicine. Technological progress over the years has played a crucial role in shaping specialized research areas such as Rehabilitation Engineering and Assistive Robotics. These fields are dedicated to creating specific robotic systems to support patients with special needs, accident victims, or individuals with physical disabilities. Simultaneously, the application of bioelectrical signals has emerged as a promising approach in these areas. In this context, the main focus of this study is the implementation of controlling a robotic arm through electromyographic signals. This study aims to capture electromyographic signals through an electrical circuit, analyzing their stages, including amplitude, frequency, and waveform, and developing a code capable of converting the captured myoelectric signals for communication and control of a robotic arm. Additionally, in developing this project, the aim was to contribute not only to the advancement in this specific area but also to inspire future studies and catalyze the creation of new projects, both within Biomedical Engineering and in its sub-areas such as Rehabilitation Engineering and Assistive Robotics. Throughout the system development process, comprehensive tests were conducted to assess each stage. The results of the waveforms at each stage were meticulously compared with the theoretical framework, especially concerning the expected format, amplitude, and frequencies. As a result of these analyses, it was possible to observe the movement of the servo motor, confirming the feasibility of controlling a robotic manipulator through electromyographic signals. This result highlights the importance and significant potential of this innovative approach in the contemporary context of Biomedical Engineering.