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

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.

References G. Salvietti, L. Franco and M. Tschiersky, Integration of a passive exoskeleton and a robotic supernumerary finger for grasping compensation in chronic stroke patients: the softpro wearable system, Frontiers in Robotics and AI, 8 (2021) 661354. Article Google Scholar K. Zhang, Y. Long and X. Luo, Review of supernumerary robotic limbs, Journal of Physics: Conference Series, 2456 (1) (2023) 012004. Google Scholar A. Kojima, D. T. Tran and J.-H. Lee, Investigation of the mounting position of a wearable robot arm, Robotics, 11 (1) (2022) 19. Article Google Scholar D. Liu, D.…

saved by

• Olivia Zheng

related reading

• Facial EMG sensing for monitoring affect using a wearable devicenature.com
• Generating Robot Hands from Human Demonstrationsarxiv.org
• Emergence of Human to Robot Transfer in Vision-Language-Action Modelspi.website
• A Framework for Optimal Ankle Design of Humanoid Robotsarxiv.org
• A Unified Model for Motion-Conditioned Robot Co-designtransformer-transformer.github.io
• OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transferarxiv.org
• Recent advancements in multimodal human–robot interactionfrontiersin.org
• FORTE: Tactile Force and Slip Sensing on Compliant Fingers for Delicate Manipulationarxiv.org
• Soft Robotic Link with Controllable Transparency for Vision-based Tactile and Proximity Sensingquan-luu.github.io
• Development of a High-speed Multifingered Hand System and Its Application to Catchingishikawa-vision.org
• Algorithm of Myoelectric Signals Processing for the Control of Prosthetic Robotic Handsportal.amelica.org
• Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensingarxiv.org