关键词: 关节, 机械手, 肌电信号, 屈伸运动, 人工肌肉

Abstract: Human elbow moves on horizontal plane, EMG signal of those muscles which produce the torque on the elbow (for example biceps and triceps) are collected. These signals are then converted to the control signal of two artificial muscles, which link to a manipulator by a chain gear, to drive the manipulator. Trajectories of the human elbow joint and the manipulator are compared. The results show that the two trajectories have strong correlation.

Key words: Artificial muscle, EMG, Flexion-extension movement, Joint, Manipulator