FPGA based mod-controlled prosthetic arm control with EMG signal

Year 2022, Volume: 12 Issue: 1, 90 - 100, 15.01.2022

Uğur Can Boz , Cengiz Tepe , İdris Sancaktar

https://doi.org/10.17714/gumusfenbil.972636

Abstract

Nowadays, Electromyogram (EMG) signals are used for many purposes such as the detection of muscle diseases, rehabilitation devices, prostheses, orthoses and facilitating human life. However, in real-time prosthetic arm applications, these systems must have a compact structure and offer optimum solutions in terms of power consumption and time in order to be portable. In this study, Field Programmable Gate Array (FPGA) based, real-time and mode-controlled prosthetic arm control was performed using 2-channel EMG signals. By contracting two muscles together without the need for an additional sensor, switching between different modes is provided. ADC conversion of EMG signal, 2 Hz low pass FIR filter, thresholding and PWM operations are performed in the FPGA board. In addition, the data obtained at each stage was monitored in real-time on the computer. As a result of the study, 98% accuracy was achieved in the prosthetic arm movements and 99% in the mode change process.

Keywords

EMG, FIR filter, FPGA, Mode control, Prosthetic arm

Project Number

yok

EMG işareti ile FPGA tabanlı mod denetimli protez kol kontrolü

Abstract

Günümüzde elektromiyogram (EMG) işaretleri kas hastalıklarının tespiti, rehabitilasyon cihazları, protezler, ortezler ve insan hayatını kolaylaştırmak gibi birçok amaç ile kullanılmaktadır. Ancak gerçek zamanlı protez kol uygulamalarında, bu sistemlerin taşınabilir yapıda olması için hem kompakt bir yapıya sahip olması hem de güç tüketimi ve süre açısından optimum çözümler sunması gerekmektedir. Bu çalışmada, 2 kanallı EMG işaretleri kullanılarak Alanda Programlanabilir Kapı Dizisi (FPGA) tabanlı, gerçek zamanlı ve mod denetimli protez kol kontrolü gerçekleştirilmiştir. Ek bir sensöre ihtiyaç duymadan iki kasın birlikte kasılması ile farklı modlar arasında geçiş sağlanmıştır. FPGA kartı içerisinde EMG işaretinin ADC dönüşümü, 2 Hz alçak geçiren FIR süzgeç, eşikleme ve PWM işlemleri gerçekleştirilmiştir. Ayrıca her aşamada elde edilen veriler gerçek zamanlı olarak bilgisayar üzerinden izlenmesi sağlanmıştır. Çalışmanın sonucunda gerçekleştirilen protez kol hareketlerinde %98, mod değiştirme işleminin gerçekleştirilmesinde ise %99 doğruluk elde edilmiştir.

Keywords

EMG, FIR süzgeç, FPGA, Mod denetimi, Protez kol

Supporting Institution

yok

Project Number

yok

Thanks

yok

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