Diseño e implementación de un sistema de adquisición de señales de electromiograma (emg) basado en electrodos secos y su utilización para el control de una mano robótica

Abstract

The current work controls the opening and closing, in real time, of a robotic hand printed in 3D through two EMG channels obtained from the forearm´s muscles by dry silver electrodes located in the surface of the skin. A flexyhand commercial robotic hand was used, which is controlled by two EMG signals. These signals are coupled to a high impedance circuit, amplified, filtered, conditioned and acquired by a STM32F407 board. The conditions of opening and closing of hand are classified using an algorithm in the time domain and applied to control the robotic hand and also to visualize it in a virtual environment of Matlab. It is only a prototype and it was tested on five subjects with multiple tests. It works very well if the dry electrodes are placed in the appropriate place.