Human-robot Shared Control of Articulated Manipulator

摘要：

　　This paper proposed a shared control method of articulated manipulator based on electrooculography (EOG).Firstly,a wearable EOG acquisition system was designed,which could translate the EOG signal to a computer by Wi-Fi.Secondly,the mapping relationship between the angle of eye movement and the characteristics of EOG was researched by experiments,and then the relative position decoding model based on the EOG signal of saccade were established.Finally,the shared control strategy integrating the direction recognition of saccade and the manipulator motion was proposed.As a result,the relative coordinates of targets which extracted from EOG signal can effectively guide the manipulator to reach the target and complete the control of manipulator.The research provides a new method for human-robot control.

关键词： human-robot shared control articulated manipulato electrooculography

作者: Jinhua Zhang Feng Guo Jun Hong Yulin Zhang

作者单位: State Key Laboratory for Manufacturing Systems Engineering Xian Jiaotong University Xian, 710049, China

会议类型: 国际会议

会议名称: 2013 International Symposium on Assembly and Manufacturing(2013装配与制造国际专题会议)

会议地点: 西安

会议语种:英文

页码: 81-84

在线出版日期: 2013-07-01（万方平台首次上网日期，不代表论文的发表时间）