User independent hand motion recognition for robot arm manipulationUser independent hand motion recognition for robot arm manipulation
- Other Titles
- User independent hand motion recognition for robot arm manipulation
- Authors
- Yuk, Do-Gyeong; Sohn, Jung Woo
- Issue Date
- Jun-2022
- Publisher
- KOREAN SOC MECHANICAL ENGINEERS
- Keywords
- Hand motion recognition; Inertia measurement unit; Machine learning; Robot arm manipulation; Surface electromyogram; User independent tele-manipulation
- Citation
- JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.36, no.6, pp 2739 - 2747
- Pages
- 9
- Journal Title
- JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
- Volume
- 36
- Number
- 6
- Start Page
- 2739
- End Page
- 2747
- URI
- https://scholarworks.bwise.kr/kumoh/handle/2020.sw.kumoh/26201
- DOI
- 10.1007/s12206-022-0507-x
- ISSN
- 1738-494X
1976-3824
- Abstract
- In the present work, tele-manipulation of robot arm and gripper is experimentally performed using inertia measurement unit (IMU) and electromyogram (EMG)-based human motion recognition. The movement of robot arm and motion of robot gripper is determined based on the measured IMU and EMG data, respectively. To overcome user dependence which is one of main disadvantage of EMG-based motion recognition, reference voluntary contraction method-based normalization of measured EMG data is carried out. Training and test data of EMG are obtained from experiments for four kinds of hand motion of four experimental participants. After extraction of feature vectors, artificial neural network is applied for the EMG-based hand motion recognition. Even when training data and test data are obtained from different participants, it is confirmed that classification accuracy can be greatly improved through the proposed simple normalization method. Finally, a real-time tele-manipulation of 6-degree-of-freedom robot arm is demonstrated successfully by adopting the proposed user independent human motion recognition method.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - Department of Mechanical Design Engineering > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.