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Article: A Hybrid Underwater Manipulator System With Intuitive Muscle-Level sEMG Mapping Control

TitleA Hybrid Underwater Manipulator System With Intuitive Muscle-Level sEMG Mapping Control
Authors
KeywordsSoft robotics
underwater manipulator
surface EMG
human-robot interaction
Issue Date2020
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE
Citation
IEEE Robotics and Automation Letters, 2020, v. 5 n. 2, p. 3198-3205 How to Cite?
AbstractSoft-robotic manipulators, with their closed-chamber elastomeric actuators, natural water-sealing and inherent compliance, are ideal for underwater applications for compact, lightweight, and dexterous manipulation tasks. However, their low structure rigidity makes soft robots highly prone to underwater disturbances, rendering traditional control methods unreliable, substantially increasing the challenges for high-dexterity control. To address this issue, we proposed an intuitive underwater hybrid manipulator system with a muscle-level mapping design concept. The manipulator was designed to construct an actuator-configuration which could directly map to the main muscles group in the human forearm. Exploiting this analogy, an electromyography-based wearable controller was developed using continuous bio-sensory data from the operator's arm to complement the intuitive manipulator control. A prototype of the proposed manipulator was constructed and validated in various experiments, where a human user could effectively use muscle activations to proportionally drive the soft-robotic manipulator in free-space motions, as well as performing object manipulation tasks both in air and underwater, only using visual feedback, with consistent performances under various time delays. The promising results of this work have demonstrated that the muscle-level analogy of soft robotics could lead to intuitive and effective underwater manipulation with simple structure and low control effort.
Persistent Identifierhttp://hdl.handle.net/10722/293381
ISSN
2019 Impact Factor: 3.608

 

DC FieldValueLanguage
dc.contributor.authorZHONG, H-
dc.contributor.authorSHEN, Z-
dc.contributor.authorZhao, Y-
dc.contributor.authorTang, K-
dc.contributor.authorWang, W-
dc.contributor.authorWang, Z-
dc.date.accessioned2020-11-23T08:15:55Z-
dc.date.available2020-11-23T08:15:55Z-
dc.date.issued2020-
dc.identifier.citationIEEE Robotics and Automation Letters, 2020, v. 5 n. 2, p. 3198-3205-
dc.identifier.issn2377-3766-
dc.identifier.urihttp://hdl.handle.net/10722/293381-
dc.description.abstractSoft-robotic manipulators, with their closed-chamber elastomeric actuators, natural water-sealing and inherent compliance, are ideal for underwater applications for compact, lightweight, and dexterous manipulation tasks. However, their low structure rigidity makes soft robots highly prone to underwater disturbances, rendering traditional control methods unreliable, substantially increasing the challenges for high-dexterity control. To address this issue, we proposed an intuitive underwater hybrid manipulator system with a muscle-level mapping design concept. The manipulator was designed to construct an actuator-configuration which could directly map to the main muscles group in the human forearm. Exploiting this analogy, an electromyography-based wearable controller was developed using continuous bio-sensory data from the operator's arm to complement the intuitive manipulator control. A prototype of the proposed manipulator was constructed and validated in various experiments, where a human user could effectively use muscle activations to proportionally drive the soft-robotic manipulator in free-space motions, as well as performing object manipulation tasks both in air and underwater, only using visual feedback, with consistent performances under various time delays. The promising results of this work have demonstrated that the muscle-level analogy of soft robotics could lead to intuitive and effective underwater manipulation with simple structure and low control effort.-
dc.languageeng-
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE-
dc.relation.ispartofIEEE Robotics and Automation Letters-
dc.rightsIEEE Robotics and Automation Letters. Copyright © Institute of Electrical and Electronics Engineers.-
dc.rights©20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.subjectSoft robotics-
dc.subjectunderwater manipulator-
dc.subjectsurface EMG-
dc.subjecthuman-robot interaction-
dc.titleA Hybrid Underwater Manipulator System With Intuitive Muscle-Level sEMG Mapping Control-
dc.typeArticle-
dc.identifier.emailZhao, Y: yafei@hku.hk-
dc.identifier.emailWang, W: wenping@cs.hku.hk-
dc.identifier.emailWang, Z: zwangski@hku.hk-
dc.identifier.authorityWang, W=rp00186-
dc.identifier.authorityWang, Z=rp01915-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/LRA.2020.2974700-
dc.identifier.scopuseid_2-s2.0-85081654355-
dc.identifier.hkuros319166-
dc.identifier.volume5-
dc.identifier.issue2-
dc.identifier.spage3198-
dc.identifier.epage3205-
dc.publisher.placeUnited States-

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