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Using Arm and Hand Gestures to Command Robots during Stealth OperationsCommand of support robots by the warfighter requires intuitive interfaces to quickly communicate high degree-of-freedom (DOF) information while leaving the hands unencumbered. Stealth operations rule out voice commands and vision-based gesture interpretation techniques, as they often entail silent operations at night or in other low visibility conditions. Targeted at using bio-signal inputs to set navigation and manipulation goals for the robot (say, simply by pointing), we developed a system based on an electromyography (EMG) "BioSleeve", a high density sensor array for robust, practical signal collection from forearm muscles. The EMG sensor array data is fused with inertial measurement unit (IMU) data. This paper describes the BioSleeve system and presents initial results of decoding robot commands from the EMG and IMU data using a BioSleeve prototype with up to sixteen bipolar surface EMG sensors. The BioSleeve is demonstrated on the recognition of static hand positions (e.g. palm facing front, fingers upwards) and on dynamic gestures (e.g. hand wave). In preliminary experiments, over 90% correct recognition was achieved on five static and nine dynamic gestures. We use the BioSleeve to control a team of five LANdroid robots in individual and group/squad behaviors. We define a gesture composition mechanism that allows the specification of complex robot behaviors with only a small vocabulary of gestures/commands, and we illustrate it with a set of complex orders.
Document ID
20130010571
Document Type
Conference Paper
External Source(s)
Authors
Stoica, Adrian
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Assad, Chris
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Wolf, Michael
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
You, Ki Sung
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Pavone, Marco
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Huntsberger, Terry
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Iwashita, Yumi
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 27, 2013
Publication Date
April 23, 2012
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Meeting Information
SPIE Symposium on Defense, Security, and Sensing(Baltimore, MD)
Distribution Limits
Public
Copyright
Other
Keywords
stealth operations
human robot interfaces
electropyography
EMG sensor arrays
gesture recogniztion
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