Pilot Study for Myoelectric Control of a Supernumerary Robot During a Coordination Task
Pilot Study for Myoelectric Control of a Supernumerary Robot During a Coordination Task
复制标题
多余机器人协调任务期间肌电控制的初步研究
DOI：
10.1007/978-3-031-05409-9_38
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Joshi, S.
中科院分区：
文献类型：
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作者：
O’Meara, S.;Robinson, S.;Joshi, S.
机器人被广泛用于增强人类能力的应用中。辅助机器人（SR）是一类相对较新的辅助机器人，它创建了一个额外的、运动学独立的肢体或附肢，可以提供各种功能。 SR 研究主要集中在设备开发和概念验证，但通常不关注人机界面和人机性能。在这项试点研究中，四名受试者与协作机器人完成了 80 次光标到目标的三手协调任务试验。受试者使用他们的两只自然手以 2-DOF（自由度）控制屏幕上的光标，并使用腿部肌肉信号来控制机器人手。机械手控制第三自由度中的光标。我们计算了两个评估协调性的指标：协调得分和自由度激活。在整个研究期间，受试者的协调得分和自由度激活有所改善。受试者增加了 3-DOF 激活的试验时间百分比，并相应减少了 1-DOF 激活。结果表明，受试者学会了如何提高协调性，同时成功完成试验并减少试验完成时间。受试者大部分时间倾向于用手（41%）进行协调，其次是所有三个肢体（19%）。未来的研究应侧重于增加三自由度协调的比例，以提高人机性能。
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.