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EDAN - An EMG-controlled Daily Assistant To Help People With Physical Disabilities

Vogel, Jörn and Hagengruber, Annette and Iskandar, Maged Samuel Zakri and Quere, Gabriel and Leipscher, Ulrike and Bustamante Gomez, Samuel and Dietrich, Alexander and Höppner, Hannes and Leidner, Daniel and Albu-Schäffer, Alin Olimpiu (2020) EDAN - An EMG-controlled Daily Assistant To Help People With Physical Disabilities. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. IEEE International Conference on Intelligent Robots and Systems (IROS), 26 Oct - 24Dec 2020, virtual Event.

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Abstract

Injuries, accidents, strokes, and other diseases can significantly degrade the capabilities to perform even the most simple activities in daily life. A large share of these cases involves neuromuscular diseases, which lead to severely reduced muscle function. However, even though affected people are no longer able to move their limbs, residual muscle function can still be existent. Previous work has shown that this residual muscular activity can suffice to apply an EMG-based user interface. In this paper, we introduce DLR's robotic wheelchair EDAN (EMG-controlled Daily Assistant), which is equipped with a torque-controlled, eight degree-of-freedom light-weight arm and a dexterous, five-fingered robotic hand. Using electromyography, muscular activity of the user is measured,processed and utilized to control both the wheelchair and the robotic manipulator. This EMG-based interface is enhanced with shared control functionality to allow for efficient and safe physical interaction with the environment.

Item URL in elib:https://elib.dlr.de/138661/
Document Type:Conference or Workshop Item (Speech, Other)
Title:EDAN - An EMG-controlled Daily Assistant To Help People With Physical Disabilities
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Vogel, JörnJoern.Vogel (at) dlr.dehttps://orcid.org/0000-0002-1987-0028
Hagengruber, AnnetteAnnette.Hagengruber (at) dlr.deUNSPECIFIED
Iskandar, Maged Samuel ZakriMaged.Iskandar (at) dlr.deUNSPECIFIED
Quere, GabrielGabriel.Quere (at) dlr.deUNSPECIFIED
Leipscher, UlrikeUlrike.Leipscher (at) dlr.deUNSPECIFIED
Bustamante Gomez, SamuelSamuel.Bustamante (at) dlr.deUNSPECIFIED
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Höppner, HannesHannes.Hoeppner (at) dlr.deUNSPECIFIED
Leidner, DanielDaniel.Leidner (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:October 2020
Journal or Publication Title:2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Assistive Robotics, Rehabilitation Robotics, Human Robot Interaction
Event Title:IEEE International Conference on Intelligent Robots and Systems (IROS)
Event Location:virtual Event
Event Type:international Conference
Event Dates:26 Oct - 24Dec 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Vogel, Jörn
Deposited On:18 Dec 2020 23:50
Last Modified:18 Dec 2020 23:50

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