Abstract
Robots are used in a wide variety of applications to augment the capability of humans. A relatively new category of assistive robots, supernumerary robots (SRs), create an additional, kinematically independent limb or appendage that may serve various functions. SR research has centered on device development and proof-of-concept but has generally not focused on the human interface and human-robot performance. In this pilot study, four subjects completed 80 cursor-to-target trials of a three-handed coordination task with a collaborative robot. The subjects used their two natural hands to control a cursor on a screen in 2-DOFs (degrees of freedom) and used a leg muscle signal to control the robotic hand. The robotic hand controlled the cursor in the third DOF. We calculated two metrics to assess coordination, the coordination score and the DOF activation. Subjects improved in the coordination score and DOF activation throughout the study duration. The subjects increased the percentage of trial time with 3-DOFs active and correspondingly decreased 1-DOF activation. The results indicated that subjects learned how to improve their coordination, while successfully completing trials and decreasing their trial completion time. The subjects tended to coordinate most of the time with their hands (41%) followed by all three limbs (19%). Future studies should focus on increasing the proportion of 3-DOF coordination for improved human-robot performance.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Ajoudani, A., Zanchettin, A.M., Ivaldi, S., Albu-Schäffer, A., Kosuge, K., Khatib, O.: Progress and prospects of the human–robot collaboration. Auton. Robot. 42(5), 957–975 (2017). https://doi.org/10.1007/s10514-017-9677-2
Kurek, D.A., Asada, H.H.: The MantisBot: design and impedance control of supernumerary robotic limbs for near-ground work. In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 5942–5947. IEEE (2017)
Bonilla, B.L., Asada, H.H.: A robot on the shoulder: coordinated human-wearable robot control using coloured petri nets and partial least squares predictions. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 119–125. IEEE (2014)
Shin, C.-Y., Bae, J., Hong, D.: Ceiling work scenario based hardware design and control algorithm of supernumerary robotic limbs. In: 2015 15th International Conference on Control, Automation and Systems (ICCAS), pp. 1228–1230. IEEE (2015)
Vatsal, V., Hoffman, G.: A wearable robotic forearm for human-robot collaboration. In: Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, pp. 329–330. ACM (2018)
Saraiji, M.Y., Sasaki, T., Kunze, K., Minamizawa, K., Inami, M.: MetaArms: body remapping using feet-controlled artificial arms. In: The 31st Annual ACM Symposium on User Interface Software and Technology - UIST 2018, pp. 65–74. ACM Press, Berlin, Germany (2018)
Llorens-Bonilla, B., Parietti, F., Asada, H.H.: Demonstration-based control of supernumerary robotic limbs. In: Presented at the RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. IEEE (2012)
Parietti, F., Asada, H.: Supernumerary robotic limbs for human body support. IEEE Trans. Robot. 32, 301–311 (2016). https://doi.org/10.1109/Tro.2016.2520486
Parietti, F., Chan, K., Asada, H.H.: Bracing the human body with supernumerary robotic limbs for physical assistance and load reduction. In: Presented at the 2014 IEEE International Conference on Robotics and Automation (ICRA) (2014)
Hussain, I., Spagnoletti, G., Salvietti, G., Prattichizzo, D.: An EMG interface for the control of motion and compliance of a supernumerary robotic finger. Front. Neurorobot. 10, 18 (2016). https://doi.org/10.3389/fnbot.2016.00018
Wu, F.Y., Asada, H.H.: Implicit and intuitive grasp posture control for wearable robotic fingers: a data-driven method using partial least squares. IEEE Trans. Robot. 32, 176–186 (2016). https://doi.org/10.1109/Tro.2015.2506731
Hussain, I., Meli, L., Pacchierotti, C., Prattichizzo, D.: A soft robotic supernumerary finger and a wearable cutaneous finger interface to compensate the missing grasping capabilities in chronic stroke patients. In: 2017 IEEE World Haptics Conference (WHC), pp. 183–188 (2017)
Tiziani, L., Hart, A., Cahoon, T., Wu, F.Y., Asada, H.H., Hammond, F.L.: Empirical characterization of modular variable stiffness inflatable structures for supernumerary grasp-assist devices. Int. J. Robot Res. 36, 1391–1413 (2017). https://doi.org/10.1177/0278364917714062
Ariyanto, M., Ismail, R., Setiawan, J.D., Arifin, Z.: Development of low cost supernumerary robotic fingers as an assistive device. In: 2017 4th International Conference on Electrical Engineering, Computer Science and Informatics (EECSI), pp. 1–6. IEEE (2017)
Leigh, S., Maes, P.: Body integrated programmable joints interface. In: Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems, pp. 6053–6057. ACM (2016)
Vatsal, V., Hoffman, G.: Wearing your arm on your sleeve: studying usage contexts for a wearable robotic forearm. In: 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 974–980. IEEE (2017)
Leigh, S.W., Agrawal, H., Maes, P.: Robotic symbionts interweaving human and machine actions. IEEE Pervas Comput. 17, 34–43 (2018). https://doi.org/10.1109/Mprv.2018.022511241
Abdi, E., Bouri, M., Burdet, E., Himidan, S., Bleuler, H.: Positioning the endoscope in laparoscopic surgery by foot: influential factors on surgeons’ performance in virtual trainer. In: Engineering in Medicine and Biology Society (EMBC), 2017 39th Annual International Conference of the IEEE, pp. 3944–3948. IEEE (2017)
Abdi, E., Burdet, E., Bouri, M., Himidan, S., Bleuler, H.: In a demanding task, three-handed manipulation is preferred to two-handed manipulation. Sci. Rep. 6, 21758 (2016). https://doi.org/10.1038/srep21758
Abdi, E., Burdet, E., Bouri, M., Bleuler, H.: Control of a supernumerary robotic hand by foot: an experimental study in virtual reality. PLoS ONE 10, e0134501 (2015). https://doi.org/10.1371/journal.pone.0134501
Velloso, E., Schmidt, D., Alexander, J., Gellersen, H., Bulling, A.: The feet in human-computer interaction: a survey of foot-based interaction. ACM Comput. Surv. 48, 21 (2015). https://doi.org/10.1145/2816455
CDC: Cases, Data, and Surveillance, https://www.cdc.gov/coronavirus/2019-ncov/covid-data/investigations-discovery/hospitalization-death-by-age.html
Office of the Commissioner: Collection of Race and Ethnicity Data in Clinical Trials, https://www.fda.gov/regulatory-information/search-fda-guidance-documents/collection-race-and-ethnicity-data-clinical-trials
Elias, L.J., Bryden, M.P., Bulman-Fleming, M.B.: Footedness is a better predictor than is handedness of emotional lateralization. Neuropsychologia 36, 37–43 (1998). https://doi.org/10.1016/S0028-3932(97)00107-3
UR5 collaborative robot arm | Flexible and lightweight cobot, https://www.universal-robots.com/products/ur5-robot/
Lyons, K., Margolis, B.: AxoPy: a python library for implementing human-computer interface experiments. J. Open Source Softw. 4, 1191 (2019)
Real-Time Data Exchange (RTDE) Guide - 22229, https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/
SDU Robotics / ur_rtde. https://gitlab.com/sdurobotics/ur_rtde. Accessed 18 June 2021
Photo by Jordan Whitt on Unsplash. https://unsplash.com/photos/sobXgw6KfiQ. Accessed 30 July 2021
Lyons, K.R., Joshi, S.S.: Real-time evaluation of a myoelectric control method for high-level upper limb amputees based on homologous leg movements. In: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 6365–6368. IEEE (2016)
O’Meara, S.M., Shyr, M.C., Lyons, K.R., Joshi, S.S.: Comparing two different cursor control methods which use single-site surface electromyography. In: 2019 9th International IEEE/EMBS Conference on Neural Engineering (NER), pp. 1163–1166. IEEE (2019). https://doi.org/10.1109/ner.2019.8716903
O’Meara, S.M., Karasinski, J.A., Miller, C.L., Joshi, S.S., Robinson, S.K.: Effects of augmented feedback and motor learning adaptation on human–automation interaction factors. J. Aerospace Inf. Syst. 1–14 (2021). https://doi.org/10.2514/1.I010915
Lyons, K.R., Joshi, S.S., Joshi, S.S., Lyons, K.R.: Upper limb prosthesis control for high-level amputees via myoelectric recognition of leg gestures. IEEE Trans. Neural Syst. Rehabil. Eng. 26, 1056–1066 (2018). https://doi.org/10.1109/TNSRE.2018.2807360
Acknowledgements
This material is based upon work supported by the National Science Foundation under Grant No. (1934792).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
O’Meara, S., Robinson, S., Joshi, S. (2022). Pilot Study for Myoelectric Control of a Supernumerary Robot During a Coordination Task. In: Kurosu, M. (eds) Human-Computer Interaction. Technological Innovation. HCII 2022. Lecture Notes in Computer Science, vol 13303. Springer, Cham. https://doi.org/10.1007/978-3-031-05409-9_38
Download citation
DOI: https://doi.org/10.1007/978-3-031-05409-9_38
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-05408-2
Online ISBN: 978-3-031-05409-9
eBook Packages: Computer ScienceComputer Science (R0)