Abstract
In this paper, we proposed an intuitive teleoperation system combining surface-electromyogram (sEMG) with inertia measurement unit (IMU) sensors. Two IMU sensors were worn in the upper arm and forearm to capture arm motion. The results were sent as control command to the remote robotic manipulator in task space. Pattern recognition algorithm was employed to decode sEMG signals collected from the forearm to control a humanoid mechanical hand. As a validation of the proposed system, we evaluated the performance of the system which included a Universal Robot 10 (UR10), a homemade humanoid pro-prosthetic hand (SJT-6) and two homemade armbands. Final experiments showed that the success rate on moving spherical object can be up to 86.7%.
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This research was supported by National Key Technology Research and Development Program of China under Grant 2015BAF01B02.
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Zhang, H., Zhao, Z., Yu, Y., Gui, K., Sheng, X., Zhu, X. (2018). A Feasibility Study on an Intuitive Teleoperation System Combining IMU with sEMG Sensors. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10984. Springer, Cham. https://doi.org/10.1007/978-3-319-97586-3_42
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