This thesis aims to explore the possibility to use EMG to train a GMM in order to estimate in realtime the bending angle of a single human joint. Extraction of features was performed with use of time-domain or frequency-domain transforms and with use of wavelet transform (WT) of which best configuration was investigated. WT was applied to signals of muscles of lower limb. A ROS based software written in C++ capable of interfacing with a humanoid robot was developed

Processing of sEMG signals for online motion of a single robot joint through GMM modelization

Valentini, Riccardo
2015/2016

Abstract

This thesis aims to explore the possibility to use EMG to train a GMM in order to estimate in realtime the bending angle of a single human joint. Extraction of features was performed with use of time-domain or frequency-domain transforms and with use of wavelet transform (WT) of which best configuration was investigated. WT was applied to signals of muscles of lower limb. A ROS based software written in C++ capable of interfacing with a humanoid robot was developed
2015-04-21
electromiography (EMG), wavelet transform, humanoid robot, knee joint, Gaussian Mixture Model (GMM), ROS, Aldebaran NAO
File in questo prodotto:
File Dimensione Formato  
valentini_riccardo_1061204.pdf

accesso aperto

Dimensione 2.98 MB
Formato Adobe PDF
2.98 MB Adobe PDF Visualizza/Apri

The text of this website © Università degli studi di Padova. Full Text are published under a non-exclusive license. Metadata are under a CC0 License

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.12608/19581