EMG-BASED MUSCLE CONTROLLED ROBOT HAND

Abstract

Nowadays, an autonomous robotics is one of the evidences of the technological development. Autonomous robots are created by people to solve their problem, ease their challenges, and overcome their limitation. Robot already help in a lot of fields, such as medical, industry, logistic, and transportation. A lot of aspects in this world has could be easier because of the presence of the autonomous robot. For example, some developer has created an exoskeleton robot, a wearable robot that is powered by a system to allow its user increased their strength and endurance in moving their limbs to do daily or heavy-duty activities. This kind of robot already help a lot of people especially people who has need rehabilitation to move their limbs because of some disease. In this thesis, a robot prosthetic hand is developed. The core controller in this robot is Fuzzy Logic Controller using Electromyography sensor to detect user muscle activity near the skin. Based on the contraction activity level in the user’s forearm muscle, the robot can determine to mimic some human hand motion or pose; muscle relaxation is for open hand motion or pose, light muscle contraction is for grabbing card hand motion or pose, and heavy muscle contraction is for grabbing object or close hand motion or pose. This level of muscle contraction is based on the usual human activity in their muscle.