O uso de sinais eletromiográficos (EMG) no controle de um manipulador robótico

Abstract

The present proposal has as main objective the development of a robotic manipulator that has its movements controlled from electromyographic signals (EMG) captured from muscles of the human body. The use of bioelectrical signals has been, in recent years, widely applied in the field of Rehabilitation Engineering, both in the control of orthoses and prostheses, as in the control of other devices, such as wheelchairs, for example. In addition, when associated with Assistive Technologies, this branch of Engineering is characterized by the development of processes and technologies that collaborate for rehabilitation and/or support for people with disabilities and/or reduced mobility. With the implementation of this study, it was hoped to stimulate the development of interdisciplinary and transdisciplinary projects associated with the areas of Biomedical Engineering and Assistive Robotics, as well as to contribute to the development of other research in the aforementioned areas. The characteristics of the Hardware and Software that were part of the developed system, the process carried out for the acquisition of the robotic manipulator structure, as well as the design of the electronic circuits for Reading and processing the EMG signal were defined and described. Tests and simulations were performed that indicated that it is possible to control a robotic manipulator through electromyographic signals.