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All Journal IAES International Journal of Robotics and Automation (IJRA)
Nayan M. Kakoty
Tezpur University
Automotive Engineering Electrical & Electronics Engineering

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Electromyographic Grasp Recognition for a Five Fingered Robotic Hand Nayan M. Kakoty; Mantoo Kaiborta; Shyamanta M. Hazarika
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 1: March 2013
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (3393.267 KB) | DOI: 10.11591/ijra.v2i1.pp1-10

Abstract

This paper presents classification of grasp types based on surface electromyographic signals. Classification is through radial basis function kernel support vector machine using sum of wavelet decomposition coefficients of the EMG signals. In a study involving six subjects, we achieved an average recognition rate of 86%. The electromyographic grasp recognition together with a 8-bit microcontroller has been employed to control a fivefingered robotic hand to emulate six grasp types used during 70% daily living activities.
Co-Authors Mantoo Kaiborta Shyamanta M. Hazarika