NDLI: Single muscle site sEMG interface for assistive grasping

Content Provider	IEEE Xplore Digital Library
Author	Weisz, J. Barszap, A.G. Joshi, S.S. Allen, P.K.
Copyright Year	2014
Description	Author affiliation: Dept. of Comput. Sci., Columbia Univ., New York, NY, USA (Weisz, J.; Allen, P.K.) \|\| Dept. of Mech., Univ. of California, Davis, Davis, CA, USA (Barszap, A.G.; Joshi, S.S.)
Abstract	We present a joint demonstration between the Robotics, Autonomous Systems, and Controls Laboratory (RASCAL) at UC Davis and the Columbia University Robotics Group, wherein a human-in-the-loop robotic grasping platform in the Columbia lab (New York, NY) is controlled to select and grasp an object by a C3-C4 spinal cord injury (SCI) subject in the UC Davis lab (Davis, CA) using a new single-signal, multi-degree-of-freedom surface electromyography (sEMG) human-robot interface. The grasping system breaks the grasping task into a multi-stage pipeline that can be navigated with only a few inputs. It integrates pre-planned grasps with on-line grasp planning capability and an object recognition and target selection system capable of handling multi-object scenes with moderate occlusion. Previous work performed in the RASCAL lab demonstrated that by continuously modulating the power in two individual bands in the frequency spectrum of a single sEMG signal, users were able to control a cursor in 2D for cursor to target tasks. Using this paradigm, four targets were presented in order for the subject to command the multi-stage grasping pipeline. We demonstrate that using this system, operators are able to grasp objects in a remote location using a robotic grasping platform.
Starting Page	2172
Ending Page	2178
File Size	2809283
Page Count	7
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942855
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Muscles Grasping Robots Planning Pipelines Electrodes Ear
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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