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A novel sEMG-based force interaction strategy of supernumerary robotic limbs | Journal of Mechanical Science and Technology | Springer Nature Link

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Supernumerary robotic limbs (SRLs) is a new wearable device that augments the wearer’s physical capabilities by providing additional robotic limbs. During the human-robot collaborative operation, SRLs require an efficient force interaction strategy that can dynamically adjust the output force of robotic limbs according to the wearer’s intention to provide reliable assistance, which is a persistent problem in human-robot interaction. We propose a novel sEMG-based force interaction strategy for SRLs to assist in installing sheets. It uses a myoelectric armband to collect the sEMG signals of the wearer while performing the task, and a force estimation model based on BP neural network was developed to estimate the output force of the wearer. The estimation comparison experiment shows that the RMSE, MAPE, and R2 of the model are 1.16, 4 %, and 0.995, respectively, indicating that it has high estimation accuracy and stability. A fuzzy PID-based force control method was developed to realize the precise force output of SRLs based on the wearer’s intention. This control method mitigates the force oscillations caused by human interference and successfully reduces the oscillation range from 27.63 N to 4.92 N (82.2 % reduction). These results show that the proposed method can significantly improve the efficiency and stability of human-robot force interaction, offering an effective solution for practical applications.

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