基于MYO手环的移动机器人控制系统设计  

Design of mobile robot platform based on MYO inspector

作　　者：李姗姗[1] 宋振中 倪春[3] 赵武[1] LI Shanshan;SONG Zhenzhong;NI Chun(School of Mechanical Engineering,Jiangsu Vocational Institute of Architectural Technology,Xuzhou 221116,China;Shanghai Electromechanical Engineering Institute,Shanghai 201109,China;Department of Mechanical Engineering,Jiangxi Electronic Information Technician College,Nanchang 330096,China)

机构地区：[1]江苏建筑职业技术学院机电工程学院,江苏徐州221116 [2]上海机电工程研究所,上海201109 [3]江西省电子信息技师学院机电工程系

出　　处：《南昌大学学报（理科版）》2018年第5期506-510,共5页Journal of Nanchang University(Natural Science)

基　　金：江西省自然科学基金资助项目(2018BAB211019)

摘　　要：研制一种基于MYO手环的移动机器人平台,面向于车底巡检。采用两个直流电机差动驱动的驱动方式,利用表面肌电信号来对其进行控制。通过使用MYO手环采集肌电信号,并将采集到的表面肌电信号通过蓝牙发送到电脑中进行预处理,再提取5种时域特征,经PCA降维后,选用BP神经网络对人手势模式分类,利用识别的手势来控制移动机器人平台,已达到解放双手控制移动机器人完成车底巡检的目的。This article describes a vehicle-facing mobile robot platform that is driven by two DC motors and uses surface EMG signals to control them.Different from the traditional electrode acquisition,this article uses the MYO bracelet to collect the surface EMG signal which is sent to the computer for pretreatment by Bluetooth,and extracts five kinds of time domain features.After PCA dimension reduction,thepatterns ofpeople's hand gesture are classified by the BP neural network and are used to control the mobile robot platform.This method is more natural.

关 键 词：移动机器人 表面肌电信号 BP神经网络 手势识别 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]