Title: A Vision-Driven Collaborative Robotic Grasping System Tele-Operated by Surface Electromyography
Author: Andrés Úbeda, Brayan S. Zapata-Impata, Santiago T. Puente, Pablo Gil, Francisco Candelas and Fernando Torres
Journal: Sensors 2018, 18(7), 2366; https://doi.org/10.3390/s18072366
Abstract: This paper presents a system that combines computer vision and surface electromyography techniques to perform grasping tasks with a robotic hand. In order to achieve a reliable grasping action, the vision-driven system is used to compute pre-grasping poses of the robotic system based on the analysis of tridimensional object features. Then, the human operator can correct the pre-grasping pose of the robot using surface electromyographic signals from the forearm during wrist flexion and extension. Weak wrist flexions and extensions allow a fine adjustment of the robotic system to grasp the object and finally, when the operator considers that the grasping position is optimal, a strong flexion is performed to initiate the grasping of the object. The system has been tested with several subjects to check its performance showing a grasping accuracy of around 95% of the attempted grasps which increases in more than a 13% the grasping accuracy of previous experiments in which electromyographic control was not implemented
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