Montoya Martínez, M.A.; Torres-Córdoba, R.; Magid, E.; Martínez-García, E.A. Electromyography-Based Biomechanical Cybernetic Control of a Robotic Fish Avatar. Machines2024, 12, 124.
Montoya Martínez, M.A.; Torres-Córdoba, R.; Magid, E.; Martínez-García, E.A. Electromyography-Based Biomechanical Cybernetic Control of a Robotic Fish Avatar. Machines 2024, 12, 124.
Montoya Martínez, M.A.; Torres-Córdoba, R.; Magid, E.; Martínez-García, E.A. Electromyography-Based Biomechanical Cybernetic Control of a Robotic Fish Avatar. Machines2024, 12, 124.
Montoya Martínez, M.A.; Torres-Córdoba, R.; Magid, E.; Martínez-García, E.A. Electromyography-Based Biomechanical Cybernetic Control of a Robotic Fish Avatar. Machines 2024, 12, 124.
Abstract
This study introduces a cybernetic control and architectural framework for a robotic fish avatar operated by a human. The behavior of the robot fish is influenced by the electromyographic (EMG) signals of the human operator, triggered by stimuli from the surrounding objects and scenery. An deep artificial neural network (ANN) with perceptrons classifies EMG signals, discerning the type of muscular stimuli generated. The research unveils a fuzzy-based oscillation patterns generator (OPG) designed to emulate functions akin to a neural central pattern generator, producing coordinated fish undulations. The OPG generates swimming behavior as an oscillation function, decoupled into coordinated step signals, right and left, for a dual electromagnetic oscillator in the fish propulsion system. Furthermore, the research presents an underactuated biorobotic mechanism of the subcarangiform type, comprising a two-solenoid electromagnetic oscillator, an antagonistic musculoskeletal elastic system of tendons, and a multi-link caudal spine composed of helical springs. The biomechanics dynamic model and control for swimming, as well as the ballasting system for submersion and buoyancy, are deduced. Experimental results encompass EMG pattern recognition, OPG, and coordinated fish locomotion, with additional topics illustrated through numerical simulations.
Keywords
biorobotics; cybernetics; neural-network, robot-fish; EMG-signals; robotic avatar; dynamic- control
Subject
Computer Science and Mathematics, Robotics
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
