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Title:: Intelligent Vehicle Control System based on Arm Surface Electromyogram

作者:: 晋晓飞1; 2; 王浩1△; 陈媛1 ; 王鹏程1; 1.南京航空航天大学航天学院仿生结构与材料防护研究所，南京 210016；2.南京航空航天大学自动化学院生物医学工程系，南京 210016

Author(s):: JIN Xiaofei1; 2; WANG Hao1; CHEN Yuan1; WANG Pengcheng1; 1.Institute of Bio-inspired Structure and Surface Engineering, College of Astronautics,Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China；2.Department of Biomedical Engineering, College of Automation Engineering,Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Keywords:: Surface electromyogram; Electromyogram sensor; Amplitude; Intelligent vehicle; Arduino; nRF24L01

摘要:: 研究一种基于手臂表面肌电信号的智能小车控制系统。当左臂做出曲臂、左勾、右勾、自然下垂四种动作时，小车将完成前进、左转、右转、停止四种运动状态。手臂表面肌电信号采集模块通过三个单通道肌电信号传感器采集左臂四种动作下的肌电信号并进行预处理；在信号识别及指令编码模块对肌电信号进行分类识别，识别出手臂的不同动作，并编码出对应的控制指令。通过无线传输模块把控制指令传输给智能小车控制模块；智能小车控制模块根据控制指令驱动电机转动，从而实现对小车运动状态的调控。实验证明，本智能小车控制系统信号识别率高，延迟小。

Abstract:: A kind of intelligent vehicle control system based on arm surface electromyogram(EMG) was studied . When the left arm made the actions of bend, left hook, right hook and natural droop, the vehicle would complete the corresponding motion state—forward, left, right and stop. The arm surface EMG signal acquisition module collected the EMG signals of the left arm by three single-channel EMG signal sensors and pre-processed them. In the signal recognizing and instruction encoding module, recognizes different arm actions were recognized，and corresponding control instructions were corresponded. Control instructions were transmitted to the intelligent vehicle control module through the wireless transmission module. According to the control instructions, the intelligent vehicle control module drived the motor rotating to achieve the regulation of the vehicle motion state. Experiments show that this intelligent vehicle control system has high signal recognition rate and short delay.