NDLI: Holonomic wheelchair control using EMG signal and joystick interface

Content Provider	IEEE Xplore Digital Library
Author	Mazumder, O. Kundu, A.S. Chattaraj, R. Bhaumik, S.
Copyright Year	2014
Description	Author affiliation: Sch. of Mechatron. & Robot., Bengal Eng. & Sci. Univ., Shibpur, India (Mazumder, O.; Kundu, A.S.; Chattaraj, R.; Bhaumik, S.)
Abstract	Aim of this paper is to develop a multimodal control strategy for a holonomic omnidirectional drive system which will be employed as a transporter for carrying disabled persons. The drive mechanism chosen here is Omni drive to enable lateral mobility of the system which provides efficient movement in narrow space due to higher degree of maneuverability. For controlling omni drive, we need 3 degree of freedom, two for position and one for orientation. We have used a 3D joystick which gives us control signals in 3 rotary axis. Forward, lateral velocities and turn rates of the omni system are mapped with the joystick axes. An alternative mode of control has also been developed with the help of EMG bio signals to make the system more convenient and easy to use. Robots localization in the arena has been done with an overhead mounted webcam and a special augmented reality based marker. The proposed system has potential application in the field of assistive device, rehabilitation robotics and in multipurpose robot navigation.
Sponsorship	IEEE Chandigarh Subsect.
Starting Page	1
Ending Page	6
File Size	7803919
Page Count	6
File Format	PDF
e-ISBN	9781479922918
DOI	10.1109/RAECS.2014.6799574
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-03-06
Publisher Place	India
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wrist Holonomic Wheelchairs Wheels Multimodal control Muscles Electromyography Mobile robots Omni drive Augmented reality EMG
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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