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Authors: Francesca Patriarca ; Paolo Di Lillo and Filippo Arrichiello

Affiliation: Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Via G. Di Biasio 43, 03043 Cassino (FR), Italy

Keyword(s): Physical Human-Robot Interaction, Human-Robot Collaboration, Shared Control.

Abstract: The paper presents a shared control architecture designed for human-robot co-manipulation tasks, that allows the human to switch among robot’s operational modes through surface electromyography (sEMG) signals from the user’s arm. A support vector machine (SVM) classifier is employed to process the raw EMG data to identify two classes of contractions that are fed into a finite state machine algorithm to trigger the activation of different sets of admittance control parameters corresponding to the envisaged operational modes. The proposed architecture has been experimentally validated using a Kinova Jaco2 manipulator, equipped with Force/Torque sensor at the end-effector, and with a user wearing Delsys Trigno Avanti EMG sensors on the dominant upper limb.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Patriarca, F., Di Lillo, P. and Arrichiello, F. (2024). EMG-Based Shared Control Framework for Human-Robot Co-Manipulation Tasks. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-717-7; ISSN 2184-2809, SciTePress, pages 46-53. DOI: 10.5220/0012943600003822

@conference{icinco24,
author={Francesca Patriarca and Paolo {Di Lillo} and Filippo Arrichiello},
title={EMG-Based Shared Control Framework for Human-Robot Co-Manipulation Tasks},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2024},
pages={46-53},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012943600003822},
isbn={978-989-758-717-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - EMG-Based Shared Control Framework for Human-Robot Co-Manipulation Tasks
SN - 978-989-758-717-7
IS - 2184-2809
AU - Patriarca, F.
AU - Di Lillo, P.
AU - Arrichiello, F.
PY - 2024
SP - 46
EP - 53
DO - 10.5220/0012943600003822
PB - SciTePress

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