Towards a multimodal system combining augmented reality and electromyography for robot trajectory programming and execution

Wesley P. Chan, Maram Gamal Ismail Elmetwally Sakr, Camilo Perez Quintero, Elizabeth Croft, H. F.Mac Hiel Van Der Loos

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

Abstract

Programming and executing robot trajectories is a routine manufacturing procedure. However, current interfaces (i.e., teach pendants) are bulky, unintuitive, and interrupts task flow. Recently, augmented reality (AR) has been used to create alternative solutions. However, input modalities of such systems tend to be limited. By introducing the use of electromyography (EMG), we have created a novel multimodal wearable interface for online trajectory programming and execution. Through the use of EMG, our system aims to bridge the user's force activation to the robot arm force profile. Our proposed system provides two interaction methods for trajectory execution and force control using 1) arm EMG and 2) arm orientation. We compared these methods with a standard joystick in a user study to test their usability. Results show that proposed methods have increased physical demands but yield equivalent task performance, demonstrating the potential of our proposed interface to provide a wearable alternative solution.

Original languageEnglish
Title of host publication2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)
EditorsDana Kulic, Dongheui Lee, Masahiro Shiomi
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages419-424
Number of pages6
ISBN (Electronic)9781728160757
ISBN (Print)9781728160764
DOIs
Publication statusPublished - Aug 2020
EventIEEE International Conference on Robot and Human Interactive Communication 2020 - Virtual, Naples, Italy
Duration: 31 Aug 20204 Sep 2020
Conference number: 29th
http://ro-man2020.unina.it/

Publication series

Name29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)1944-9445
ISSN (Electronic)1944-9437

Conference

ConferenceIEEE International Conference on Robot and Human Interactive Communication 2020
Abbreviated titleRO-MAN 2020
CountryItaly
CityVirtual, Naples
Period31/08/204/09/20
Internet address

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