Learning task-specific models for reach to grasp movements: Towards EMG-based teleoperation of robotic arm-hand systems

Minas V. Liarokapis, Panagiotis Artemiadis, Pantelis T. Katsiaris, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

A learning scheme based on Random Forests is used to decode the EMG activity of 16 muscles of the human arm-hand system to a continuous representation of kinematics in reach-to-grasp movements in 3D space. Classification methods are used to discriminate between significantly different reach to grasp strategies, formulating a switching mechanism that may trigger the use of position and object-specific decoding models (task-specificity). These task-specific models can achieve better estimation results than the general models for the kinematics of different reach-to-grasp movements. The efficacy of the proposed methodology is assessed through a strict validation procedure, based on everyday life reach-to-grasp scenarios and data not previously seen during training. Finally, for demonstration purposes, the authors teleoperate an arm-hand model in the OpenRave simulation environment using the estimated from the EMG signals human motion.

Original languageEnglish (US)
Title of host publication2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Pages1287-1292
Number of pages6
DOIs
StatePublished - Oct 18 2012
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy
Duration: Jun 24 2012Jun 27 2012

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Other

Other2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
CountryItaly
CityRome
Period6/24/126/27/12

Keywords

  • EMG-Based Tele-operation
  • ElectroMyoGraphy (EMG)
  • Learning Scheme
  • Model Switching
  • Random Forests
  • Robotic Arm-Hand System

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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    Liarokapis, M. V., Artemiadis, P., Katsiaris, P. T., & Kyriakopoulos, K. J. (2012). Learning task-specific models for reach to grasp movements: Towards EMG-based teleoperation of robotic arm-hand systems. In 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 (pp. 1287-1292). [6290724] (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). https://doi.org/10.1109/BioRob.2012.6290724