Investigation of Control Parameters for Human-Robot Cooperative Lifting Tasks Using EMG Signals
Authors: Kim, Jaehyo; Lee, Sungyoon
Source: Sensor Letters, Volume 10, Numbers 5-6, May 2012 , pp. 1276-1281(6)
Publisher: American Scientific Publishers
Abstract:This paper investigates how humans perform the cooperative lifting task and propose an estimation method for controlling the parameters of human-robot cooperative tasks using electromyography (EMG) signals. When a person initiates a task, they must simultaneously transfer their motor intention such as movement direction and dynamic force to the robot. Two subjects, a leader and a follower, were asked to lift a bar-shaped object from both ends while the movement speed and object weight varied. This study developed a simple mathematical model to predict the person's movement intention. The results confirm that the proposed method can be used to estimate the leader's movement intentions during a cooperative lifting task. Through a logistic regression model, the movement direction was estimated, with approximately 81% accuracy, and time-varying hand path was estimated with approximately 78% accuracy for 60% of the subjects.
Document Type: Research Article
Publication date: May 1, 2012
- The growing interest and activity in the field of sensor technologies requires a forum for rapid dissemination of important results: Sensor Letters is that forum. Sensor Letters offers scientists, engineers and medical experts timely, peer-reviewed research on sensor science and technology of the highest quality. Sensor Letters publish original rapid communications, full papers and timely state-of-the-art reviews encompassing the fundamental and applied research on sensor science and technology in all fields of science, engineering, and medicine. Highest priority will be given to short communications reporting important new scientific and technological findings.
- Editorial Board
- Information for Authors
- Subscribe to this Title
- Terms & Conditions
- ingentaconnect is not responsible for the content or availability of external websites