ICRA 2012 Paper Abstract


Paper WeA310.5

Liarokapis, Minas (National Technical University of Athens), Artemiadis, Panagiotis (Arizona State University), Katsiaris, Pantelis (National Technical University of Athens), Kyriakopoulos, Kostas (National Technical Univ. of Athens), Manolakos, Elias (Department of Informatics and Telecommunications, University of )

Learning Human Reach-To-Grasp Strategies: Towards EMG-Based Control of Robotic Arm-Hand Systems

Scheduled for presentation during the Interactive Session "Interactive Session WeA-3" (WeA310), Wednesday, May 16, 2012, 09:30−10:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 20, 2018

Keywords Biomimetics, Brain Machine Interface, Grasping


Reaching and grasping of objects in an every-day-life environment seems so simple for humans, though so complicated from an engineering point of view. Humans use a variety of strategies for reaching and grasping anything from the simplest to the most complicated objects, achieving high dexterity and efficiency. This seemingly simple process of reach-to-grasp relies on the complex coordination of the musculoskeletal system of the upper limbs. In this paper, we study the muscular co-activation patterns during a variety of reach-to-grasp motions, and we introduce a learning scheme that can discriminate between different strategies. This scheme can then classify reach-to-grasp strategies based on the muscular co-activations. We consider the arm and hand as a whole system, therefore we use surface ElectroMyoGraphic (sEMG) recordings from muscles of both the upper arm and the forearm. The proposed scheme is tested in extensive paradigms proving its efficiency, while it can be used as a switching mechanism for task-specific motion and force estimation models, improving EMG-based control of robotic arm-hand systems.



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