Sangam: A Confluence of Knowledge Streams

Sharing the Load: Human-Robot Team Lifting Using Muscle Activity

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dc.contributor Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
dc.creator DelPreto, Joseph
dc.creator Rus, Daniela
dc.date 2021-11-01T16:57:58Z
dc.date 2021-11-01T16:57:58Z
dc.date 2019-05
dc.date 2021-04-15T16:23:38Z
dc.date.accessioned 2023-03-01T18:10:15Z
dc.date.available 2023-03-01T18:10:15Z
dc.identifier https://hdl.handle.net/1721.1/136983
dc.identifier DelPreto, Joseph and Rus, Daniela. 2019. "Sharing the Load: Human-Robot Team Lifting Using Muscle Activity." Proceedings - IEEE International Conference on Robotics and Automation, 2019-May.
dc.identifier.uri http://localhost:8080/xmlui/handle/CUHPOERS/279015
dc.description Seamless communication of desired motions and goals is essential for enabling effective physical human-robot collaboration. In such cases, muscle activity measured via surface electromyography (EMG) can provide insight into a person's intentions while minimally distracting from the task. The presented system uses two muscle signals to create a control framework for team lifting tasks in which a human and robot lift an object together. A continuous setpoint algorithm uses biceps activity to estimate changes in the user's hand height, and also allows the user to explicitly adjust the robot by stiffening or relaxing their arm. In addition to this pipeline, a neural network trained only on previous users classifies biceps and triceps activity to detect up or down gestures on a rolling basis; this enables finer control over the robot and expands the feasible workspace. The resulting system is evaluated by 10 untrained subjects performing a variety of team lifting and assembly tasks with rigid and flexible objects.
dc.format application/pdf
dc.language en
dc.publisher IEEE
dc.relation 10.1109/icra.2019.8794414
dc.relation Proceedings - IEEE International Conference on Robotics and Automation
dc.rights Creative Commons Attribution-Noncommercial-Share Alike
dc.rights http://creativecommons.org/licenses/by-nc-sa/4.0/
dc.source MIT web domain
dc.title Sharing the Load: Human-Robot Team Lifting Using Muscle Activity
dc.type Article
dc.type http://purl.org/eprint/type/ConferencePaper


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