TeleFMG: A Wearable Force-Myography Device for Natural Teleoperation of Multi-finger Robotic Hands
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arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2023
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| _version_ | 1866917569077706752 |
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| author | Mizrahi, Alon Sintov, Avishai |
| author_facet | Mizrahi, Alon Sintov, Avishai |
| contents | Teleoperation enables a user to perform dangerous tasks (e.g., work in disaster zones or in chemical plants) from a remote location. Nevertheless, common approaches often provide cumbersome and unnatural usage. In this letter, we propose TeleFMG, an approach for teleoperation of a multi-finger robotic hand through natural motions of the user's hand. By using a low-cost wearable Force-Myography (FMG) device, musculoskeletal activities on the user's forearm are mapped to hand poses which, in turn, are mimicked by a robotic hand. The mapping is performed by a spatio-temporal data-based model based on the Temporal Convolutional Network. The model considers spatial positions of the sensors on the forearm along with temporal dependencies of the FMG signals. A set of experiments show the ability of a teleoperator to control a multi-finger hand through intuitive and natural finger motion. A robot is shown to successfully mimic the user's hand in object grasping and gestures. Furthermore, transfer to a new user is evaluated while showing that fine-tuning with a limited amount of new data significantly improves accuracy. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2308_13929 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | TeleFMG: A Wearable Force-Myography Device for Natural Teleoperation of Multi-finger Robotic Hands Mizrahi, Alon Sintov, Avishai Robotics Systems and Control Teleoperation enables a user to perform dangerous tasks (e.g., work in disaster zones or in chemical plants) from a remote location. Nevertheless, common approaches often provide cumbersome and unnatural usage. In this letter, we propose TeleFMG, an approach for teleoperation of a multi-finger robotic hand through natural motions of the user's hand. By using a low-cost wearable Force-Myography (FMG) device, musculoskeletal activities on the user's forearm are mapped to hand poses which, in turn, are mimicked by a robotic hand. The mapping is performed by a spatio-temporal data-based model based on the Temporal Convolutional Network. The model considers spatial positions of the sensors on the forearm along with temporal dependencies of the FMG signals. A set of experiments show the ability of a teleoperator to control a multi-finger hand through intuitive and natural finger motion. A robot is shown to successfully mimic the user's hand in object grasping and gestures. Furthermore, transfer to a new user is evaluated while showing that fine-tuning with a limited amount of new data significantly improves accuracy. |
| title | TeleFMG: A Wearable Force-Myography Device for Natural Teleoperation of Multi-finger Robotic Hands |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2308.13929 |