Data-Driven Modelling of Human-Human Co-Manipulation Using Force and Muscle Surface Electromyogram Activities

被引:4
作者
Al-Yacoub, Ali [1 ]
Flanagan, Myles [1 ]
Buerkle, Achim [1 ]
Bamber, Thomas [1 ]
Ferreira, Pedro [1 ]
Hubbard, Ella-Mae [1 ]
Lohse, Niels [1 ]
机构
[1] Loughborough Univ, Intelligent Automat Ctr, Wolfson Sch Mech Elect & Mfg Engn, Loughborough LE11 3TU, Leics, England
基金
英国工程与自然科学研究理事会;
关键词
human-robot collaboration; human-human co-manipulation; data-driven modelling; mathematical modelling; object manipulation; impedance control; HUMAN-ROBOT COLLABORATION;
D O I
10.3390/electronics10131509
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
With collaborative robots and the recent developments in manufacturing technologies, physical interactions between humans and robots represent a vital role in performing collaborative tasks. Most previous studies have focused on robot motion planning and control during the execution of the task. However, further research is required for direct physical contact for human-robot or robot-robot interactions, such as co-manipulation. In co-manipulation, a human operator manipulates a shared load with a robot through a semi-structured environment. In such scenarios, a multi-contact point with the environment during the task execution results in a convoluted force/toque signature that is difficult to interpret. Therefore, in this paper, a muscle activity sensor in the form of an electromyograph (EMG) is employed to improve the mapping between force/torque and displacements in co-manipulation tasks. A suitable mapping was identified by comparing the root mean square error amongst data-driven models, mathematical models, and hybrid models. Thus, a robot was shown to effectively and naturally perform the required co-manipulation with a human. This paper's proposed hypotheses were validated using an unseen test dataset and a simulated co-manipulation experiment, which showed that the EMG and data-driven model improved the mapping of the force/torque features into displacements.
引用
收藏
页数:17
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