Myoelectric teleoperation of a complex robotic hand

Teleoperation continues to be a primary control mode in robotics applications, particularly for robots with complex hands. This paper details a novel method of teleoperation of complex anthropomorphic robotic hands: converting the myoelectric signal (generated by the operator's muscles during m...

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Bibliographic Details
Published in:IEEE transactions on robotics and automation 1996-10, Vol.12 (5), p.775-788
Main Authors: Farry, K.A., Walker, I.D., Baraniuk, R.G.
Format: Article
Language:English
Subjects:
Anthropomorphism
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Electrical engineering
Exact sciences and technology
Grasping
Motion control
Muscles
NASA
Prosthetic hand
Robot control
Robotics
Robots
Signal generators
Thumb
User interfaces
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Summary:Teleoperation continues to be a primary control mode in robotics applications, particularly for robots with complex hands. This paper details a novel method of teleoperation of complex anthropomorphic robotic hands: converting the myoelectric signal (generated by the operator's muscles during movement) into robot commands replicating the motion. Myoelectric prosthetic hands have used this user interface for over two decades; however, the feasibility of using this approach for commanding more than one degree-of-freedom, as in the pincher type grip in current myoelectric hands, has been in question. The research described in this paper addresses myoelectric control of NASA/Johnson Space Center's sixteen degree-of-freedom Utah/MIT Dextrous Hand for two grasping (key and chuck) options and three thumb motions (abduction, extension, and flexion). We discuss myoelectric signal processing approaches, data collection apparatus, and a realtime teleoperation implementation. We also present results in realtime discrimination of key and chuck grasps and offline discrimination of thumb motions. Our results include a 90% correct grasp selection rate and an 87% correct thumb motion selection, both using the myoelectric spectrum.
ISSN:1042-296X
2374-958X
DOI:10.1109/70.538982