EMG — force correlation considering Fitts’ law

摘要

In recent years, many dangerous tasks are performed by robots. In most contact tasks, however, humans are far superior to their robotic counterparts. To control robot manipulators in contact tasks, the characteristics of human movements should be investigated through biological signals, such as EMG, which reflects the dexterity of human manipulation. In this study, EMG signal is analyzed through direct and numerical comparison with force estimation. The EMG and force signals were analyzed in the perspective of Fittspsila law, which is a general estimation method on speed and accuracy. The results of this study show that both EMG and force controls follow Fittspsila law, which suggests that both controls can be applicable as a control modality for robot control.