Transcript Monitor The EMG Signal

‫הפקולטה למדעי ההנדסה‬
Faculty of Engineering Sciences
‫הנדסת חשמל ומחשבים‬
Remote Body Functionality For The Handicapped
Elad Sorani, Tsvika Blekher
Prof. Shlomi Arnon
Introduction
Project Goals
In our society there are people with
amputated limbs, cripples and more,
whose personal ability to function is
disordered. In addition the costs for
equipment and nursing care is very
high. The objective of this project is to
improve the motorial functioning of this
population by external robotic arm and
vehicle controlled by EMG signal
received from selected muscles in the
body.
The objective of this project is to drive
a robotic arm and vehicle wirelessly
by moving certain muscles in the body.
An important attribute of this system is
a correct sample of electrical signals
from muscles (EMG) and the
translation of these signals into an
action.
Monitor
Transmit System
The system gets at its input EMG
signals, Amplify them at Gain of 60dB
and filtering them with LPF.
The Micro-Controller samples the
analog signal and translate the analog
signal to digital PWM data to the
transmitter modulation input. The
transmitter sends the modulated signal
to the air.
Receive System
The receiver system gets at its
input a modulated signal and
sends at its output command
signals to the motors .
The system also have a
wireless camera –tracking the
movement of the robot.
Camera
RF LINK
The EMG Signal
The EMG signal is small electric
current that is released when a muscle is
contracted. The signal can be read or
measured by placing conductive
elements, or electrodes, on the skin
surface. The voltage level of the signal
is 0.01-10mV at freq. range of 0-500Hz
The Software
In the code we are sampling two Analog channels from the
Analog Circuit. After averaging the signal and identify the
wanted command to be sent to the robot we are changing
the frame structure of the PWM signal according to the
command. All of the operation above are executed in real
time.
EMG
Signal
A/D
Avaraging
Decision
Creating
output
signal
Robotic Arm