Uploaded October 2020 | Updated September 2026, 39 minutes ago

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Velocity control of a module based on the signal from an EMG sensor connected to a HEBI I/O Board using the HEBI Matlab API.

The entirety of the code running in this video is below:

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% Demo using an EMG sensor (Advancer Tech "MyoWare Muscle Sensor") to
% control the velocity of a module
%
% Dave Rollinson
% HEBI Robotics
% Jun 2018

clear *;
close all;

emgSensorGroup = HebiLookup.newGroupFromNames('Dave','ioBoard');
cmdGroup = HebiLookup.newGroupFromNames('Dave','testModule');

cmd = CommandStruct();

emgSensorGain = 2;
emgSensorOffset = 0.5;

while true
fbk = emgSensorGroup.getNextFeedbackIO();

cmd.velocity = max( emgSensorGain * (fbk.a1-emgSensorOffset), 0 );
cmdGroup.send(cmd);
end