以肌電訊號操控演奏機器人之研製

機器人的研究在早期的工業時代是以工業使用的機器手臂為主，隨著科技進步及人類需求，機器人研究廣泛應用在工業、娛樂，甚至於人口老化後衍生的橘色科技。本論文結合穿戴式技術，控制機器人進行演奏表演。以Thalmic公司的Myo手環，感測手臂的肌電訊號(Electromyography; EMG)，透過電腦端的Myoduino軟體解析使用者手勢，經過串列埠，將手勢命令傳送給Arduino控制板，Arduino控制板根據手勢命令，控制馬達與MP3 Shield板完成演奏機器人的關節縮放和音樂的撥出與停止。目前是以預先錄製的音樂代替演奏機器人實際演奏聲音，雖然達到了娛樂機器人的功效，但畢竟比較不真實。希望在未來的研究之中，增加機器人的關節靈活度與數目，並能控制機器人手臂力道，在將來是真實由演奏機器人真實演奏出一首完整的樂曲。

關鍵字

肌電訊號；機器人

並列摘要

Robotics Research in the early industrial era was dominated by industrial use of robotic arms. Along with the progress of science and technology, and human needs, robots are widely used in industry, entertainment, even the Orange Technology derived from population aging. This dissertation discussed how to apply wearable technology to control robots play music performances. Based on a Myo bracelet, supplied via Thalmic Technology Company, to sense arm (EMG) electromyography signals, then applying Myoduino software to analyze the gestures from end users with a computer through a serial port, pass the gesture command to Arduino board. According to the gesture commands, Arduino control panels then manipulate motor controls and MP3 Shield plate to finish the performing robot’s joint scaling and music. At the stage, the robot is performing pre-recorded music rather than the genuine music. It did reach the purpose of an entertainment robot as result, but, after all, it is not real. In future studies, it is hoped that increasing the number of robot joints flexibility and being able to control the strength of the robot arm will be a main focus, so to test out a complete piece of music played by robots.