Construcción de un controlador electrónico para pinza gripper usando señales bioeléctricas

Abstract

The development of robotic structures and tools day by day is advancing by leaps and bounds, seeking to facilitate the execution of tasks or activities that require a high degree of precision, effort and inclusion that can be harmful for the integrity of the human being. This paper proposes the development of an electronic controller associated with the recognition of electromyographic signals (EMG), in order to control grip and grasp movements of an electromechanical gripper structure. The aim is to implement a control unit based on a 32-bit microcontroller, which will allow the effective detection of the electromyographic signals from the long palmar muscle and associate them to actions of the grip mechanisms, used in robotic devices in industrial, biomedical, exploration environments and any field where its implementation is necessary and feasible.