本論文旨在應用FPGA實現結合肌電訊號與機械臂的導引系統。肌電圖(Electromyography，EMG)是一種在肌肉收縮過程中產生的生理訊號，因此肌電訊號加以分析處理後，可以當作導引機械臂運動的控制命令。針對肌電訊號與相對應的手部運動關係進行分析，操作者可利用手臂肌肉藉由此系統操縱機械臂。由生理訊號擷取板擷取三組肌肉電訊號，經由類比數位轉換器將訊號轉換成數位訊號。然後經由系統進行特徵值計算並利用模糊邏輯分類輸出馬達位置命令值，最後由伺服控制模組完成機械臂的定位控制。整個系統的所有模組皆執行在Altera DE0-Nano FPGA發展板，設計程式為硬體描述語言Verilog。

The thesis aims to utilize a FPGA chip for the implementation of the electromyography signal for guidance control a robot manipulator system. Electromyography is a physiological signal which is generated in the process of muscle contraction. EMG signals were analyzed and proceed, it can be a command for guiding robot manipulator. The operator can use their arm muscles to operate robot manipulator via analyzing the relationship between EMG signals and hand movements. The three channel EMG signals are converted into digital signals after they are inputted in analog-to-digital converter. These signals calculate the MAV and use fuzzy logic classification to classify the motor position command through system. Finally, positioning servo control module achieve manipulator control. All the modules of the system are implemented by the use of Altera DE0-Nano FPGA development board, and the system programming language is Verilog.

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