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Learning to teleoperate an upper-limb assistive humanoid robot for bimanual daily-living tasks

Connan, Mathilde and Sierotowicz, Marek and Henze, Bernd and Porges, Oliver and Albu-Schäffer, Alin and Roa Garzon, Máximo Alejandro and Castellini, Claudio (2021) Learning to teleoperate an upper-limb assistive humanoid robot for bimanual daily-living tasks. Biomedical Physics & Engineering Express, 8 (1), pp. 1-17. Institute of Physics Publishing. doi: 10.1088/2057-1976/ac3881. ISSN 2057-1976.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://iopscience.iop.org/article/10.1088/2057-1976/ac3881


Objective. Bimanual humanoid platforms for home assistance are nowadays available, both as academic prototypes and commercially. Although they are usually thought of as daily helpers for non-disabled users, their ability to move around, together with their dexterity, makes them ideal assistive devices for upper-limb disabled persons, too. Indeed, teleoperating a bimanual robotic platform via muscle activation could revolutionize the way stroke survivors, amputees and patients with spinal injuries solve their daily home chores. Moreover, with respect to direct prosthetic control, teleoperation has the advantage of freeing the user from the burden of the prosthesis itself, overpassing several limitations regarding size, weight, or integration, and thus enables a much higher level of functionality. Approach. In this study, nine participants, two of whom suffer from severe upper-limb disabilities, teleoperated a humanoid assistive platform, performing complex bimanual tasks requiring high precision and bilateral arm/hand coordination, simulating home/office chores. A wearable body posture tracker was used for position control of the robotic torso and arms, while interactive machine learning applied to electromyography of the forearms helped the robot to build an increasingly accurate model of the participant's intent over time. Main results. All participants, irrespective of their disability, were uniformly able to perform the demanded tasks. Completion times, subjective evaluation scores, as well as energy- and time- efficiency show improvement over time on short and long term. Significance. This is the first time a hybrid setup, involving myoeletric and inertial measurements, is used by disabled people to teleoperate a bimanual humanoid robot. The proposed setup, taking advantage of interactive machine learning, is simple, non-invasive, and offers a new assistive solution for disabled people in their home environment. Additionnally, it has the potential of being used in several other applications in which fine humanoid robot control is required.

Item URL in elib:https://elib.dlr.de/193886/
Document Type:Article
Title:Learning to teleoperate an upper-limb assistive humanoid robot for bimanual daily-living tasks
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Connan, MathildeUNSPECIFIEDhttps://orcid.org/0000-0001-6735-4194UNSPECIFIED
Sierotowicz, MarekUNSPECIFIEDhttps://orcid.org/0000-0001-8040-6438UNSPECIFIED
Henze, BerndUNSPECIFIEDhttps://orcid.org/0000-0001-7273-8168UNSPECIFIED
Porges, OliverUNSPECIFIEDhttps://orcid.org/0000-0003-2625-2364UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115930
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Castellini, ClaudioUNSPECIFIEDhttps://orcid.org/0000-0002-7346-2180UNSPECIFIED
Date:16 December 2021
Journal or Publication Title:Biomedical Physics & Engineering Express
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1-17
Publisher:Institute of Physics Publishing
Series Name:IOP Publishing
Keywords:assistive robotics, bimanual tasks, daily-living activities, teleoperation, humanoid robotics, myocontrol, human-machine interaction
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 - Intelligent Mobility (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Connan, Mathilde
Deposited On:13 Feb 2023 12:05
Last Modified:11 Sep 2023 13:25

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