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Electromyography for teleoperated tasks in weightlessness

Hagengruber, Annette and Leipscher, Ulrike and Eskofier, Björn M and Vogel, Jörn (2021) Electromyography for teleoperated tasks in weightlessness. IEEE Transactions on Human-Machine Systems, 51 (2), pp. 130-140. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/THMS.2020.3047975. ISSN 2168-2291.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/9354352


The cooperation between robots and astronauts will become a core element of future space missions. This is accompanied by the demand for suitable input devices. An interface based on electromyography (EMG) represents a small, light and wearable device to generate a continuous 3D control signal from voluntarily muscle activation of the operator's arm. We analyzed the influence of microgravity on task performance during a 2D task on a screen. Six subjects performed aiming and tracking tasks in parabolic flights. Three different levels of fixation -- fixed feet using foot straps, semi-free by using a foot rail, and free-floating feet -- were tested to investigate how much user fixation is required to operate via the interface. The user study showed that weightlessness affects the usage of the interface only to a small extent. Success rates between 89% and 96% were reached within all conditions during microgravity. A significant effect between 0G and 1G could not be identified for the test series of fixed and semi-free feet, while free-floating feet showed significantly worse results in fine and gross motion times in 0G compared to ground tests (with success rates of 92% for 0G and 99% for 1G). Further adaptation to the altered proprioception may be needed here. Hence, foot rails as already mounted in the ISS would be sufficient to use the interface in weightlessness. Low impact of microgravity, high success rates, and an easy handling of the system, indicates a high potential of an EMG-based interface for teleoperation in space.

Item URL in elib:https://elib.dlr.de/147810/
Document Type:Article
Title:Electromyography for teleoperated tasks in weightlessness
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Hagengruber, AnnetteUNSPECIFIEDhttps://orcid.org/0000-0002-8243-1327UNSPECIFIED
Eskofier, Björn MFriedrich-Alexander University Erlangen-Nürnberg, GermanyUNSPECIFIEDUNSPECIFIED
Vogel, JörnUNSPECIFIEDhttps://orcid.org/0000-0002-1987-0028UNSPECIFIED
Date:April 2021
Journal or Publication Title:IEEE Transactions on Human-Machine Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 130-140
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Human Machine Interfaces, Electromyography, Space Application, Teleoperation, Robotcontrol, Weightlessness
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Terrestrial Assistance Robotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Hagengruber, Annette
Deposited On:20 Dec 2021 11:39
Last Modified:20 Dec 2021 11:39

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