High-density Electromyography for Effective Gesture-based Control of Physically Assistive Mobile Manipulators
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2023
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| Subjects: | |
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| _version_ | 1866929574921633792 |
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| author | Yang, Jehan Shibata, Kent Weber, Douglas Erickson, Zackory |
| author_facet | Yang, Jehan Shibata, Kent Weber, Douglas Erickson, Zackory |
| contents | High-density electromyography (HDEMG) can detect myoelectric activity as control inputs to a variety of electronically-controlled devices. Furthermore, HDEMG sensors may be built into a variety of clothing, allowing for a non-intrusive myoelectric interface that is integrated into a user's routine. In our work, we introduce an easily-producible HDEMG device that interfaces with the control of a mobile manipulator to perform a range of household and physically assistive tasks. Mobile manipulators can operate throughout the home and are applicable for a spectrum of assistive and daily tasks in the home. We evaluate the use of real-time myoelectric gesture recognition using our device to enable precise control over the intricate mobility and manipulation functionalities of an 8 degree-of-freedom mobile manipulator. Our evaluation, involving 13 participants engaging in challenging self-care and household activities, demonstrates the potential of our wearable HDEMG system to control a mobile manipulator in the home. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2312_07745 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | High-density Electromyography for Effective Gesture-based Control of Physically Assistive Mobile Manipulators Yang, Jehan Shibata, Kent Weber, Douglas Erickson, Zackory Robotics High-density electromyography (HDEMG) can detect myoelectric activity as control inputs to a variety of electronically-controlled devices. Furthermore, HDEMG sensors may be built into a variety of clothing, allowing for a non-intrusive myoelectric interface that is integrated into a user's routine. In our work, we introduce an easily-producible HDEMG device that interfaces with the control of a mobile manipulator to perform a range of household and physically assistive tasks. Mobile manipulators can operate throughout the home and are applicable for a spectrum of assistive and daily tasks in the home. We evaluate the use of real-time myoelectric gesture recognition using our device to enable precise control over the intricate mobility and manipulation functionalities of an 8 degree-of-freedom mobile manipulator. Our evaluation, involving 13 participants engaging in challenging self-care and household activities, demonstrates the potential of our wearable HDEMG system to control a mobile manipulator in the home. |
| title | High-density Electromyography for Effective Gesture-based Control of Physically Assistive Mobile Manipulators |
| topic | Robotics |
| url | https://arxiv.org/abs/2312.07745 |