Development of Sensory-Motor Fusion-Based Manipulation and Grasping Control for a Robotic Hand-Eye System

IEEE Transactions on Systems, Man, and Cybernetics: Systems

Volumn 47, Issue 7, 2017, Pages 1169-1180

  Hu, Yingbai ^a   Li, Zhijun ^a   Li, Guanglin ^b   Yuan, Peijiang ^c   Yang, Chenguang ^d   Song, Rong ^e  

^a SOUTH CHINA UNIVERSITY OF TECHNOLOGY   (China)

^b SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY   (China)

^c BEIHANG UNIVERSITY   (China)

^d SWANSEA UNIVERSITY   (United Kingdom)

^e SUN YAT SEN UNIVERSITY   (China)

Author keywords

Bionic arm; multifingers hand; quadratic programming; surface electromyography (sEMG); vision servoing

Indexed keywords

ADAPTIVE BOOSTING; BIONICS; CONVEX OPTIMIZATION; ELECTROMYOGRAPHY; MOTION ESTIMATION; OPTIMIZATION; QUADRATIC PROGRAMMING; ROBOTIC ARMS; ROBOTICS; STEREO IMAGE PROCESSING; VISUAL SERVOING;

CONVEX OPTIMIZATION PROBLEMS; HIERARCHICAL CONTROL ARCHITECTURE; MOVEMENT RECOGNITION; MULTI-FINGERED ROBOTIC HANDS; MULTIFINGERS; SERVOING; SUBSTANTIAL REDUCTION; SURFACE ELECTROMYOGRAPHY;

ROBOT PROGRAMMING;

EID: 85021652302     PISSN: 21682216     EISSN: 21682232     Source Type: Journal    
DOI: 10.1109/TSMC.2016.2560530     Document Type: Article

References (37)

1. R. de Souza, S. El-Khoury, J. Santos-Victor, and A. Billard, "Recognizing the grasp intention from human demonstration," Robot. Auton. Syst., vol. 74, pp. 108-121, Dec. 2015.
2. C. Cipriani, M. Controzzi, and M. C. Carrozza, "The SmartHand transradial prosthesis," J. NeuroEng. Rehabil., vol. 8, no. 29, pp. 1-13, 2011.
3. X. Chen, D. Zhang, and X. Zhu, "Application of a self-enhancing classification method to electromyography pattern recognition for multifunctional prosthesis control," J. NeuroEng. Rehabil., vol. 10, no. 1, 2013, Art. no. 44.
4. A. D. Roche, H. Rehbaum, D. Farina, and O. C. Aszmann, "Prosthetic myoelectric control strategies: A clinical perspective," Current Surg. Rep., vol. 2, no. 3, pp. 1-11, Mar. 2014.
5. C. Cipriani, F. Zaccone, S. Micera, and M. C. Carrozza, "On the shared control of an EMG-controlled prosthetic hand: Analysis of user-prosthesis interaction," IEEE Trans. Robot., vol. 24, no. 1, pp. 170-184, Feb. 2008.
6. A. J. Young, L. H. Smith, E. J. Rouse, and L. J. Hargrove, "A comparison of the real-time controllability of pattern recognition to conventional myoelectric control for discrete and simultaneous movements," J. NeuroEng. Rehabil., vol. 11, no. 1, 2014, Art. no. 5.
7. M. Ortiz-Catalan, B. Håkansson, and R. Brånemark, "Real-time and simultaneous control of artificial limbs based on pattern recognition algorithms," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 22, no. 4, pp. 756-764, Jul. 2014.
8. J. Hahne et al., "Linear and nonlinear regression techniques for simultaneous and proportional myoelectric control," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 22, no. 2, pp. 269-279, Mar. 2014.
9. E. Scheme, A. Fougner, Ø. Stavdahl, A. D. C. Chan, and K. Englehart, "Examining the adverse effects of limb position on pattern recognition based myoelectric control," in Proc. IEEE Eng. Med. Biol. Annu. Int. Conf. (EMBC), Buenos Aires, Argentina, 2010, pp. 6337-6340.
10. P. K. Artemiadis and K. J. Kyriakopoulos, "An EMG-based robot control scheme robust to time-varying EMG signal features," IEEE Trans. Inf. Technol. Biomed., vol. 14, no. 3, pp. 582-588, May 2010.
11. L. Hargrove, K. Englehart, and B. Hudgins, "The effect of electrode displacements on pattern recognition based myoelectric control," in Proc. 28th Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., New York, NY, USA, 2006, pp. 2203-2206.
12. A. Gijsberts et al., "Stable myoelectric control of a hand prosthesis using non-linear incremental learning," Front. Neurorobot., vol. 8, no. 8, pp. 1-15, 2014.
13. J. W. Sensinger, B. A. Lock, and T. A. Kuiken, "Adaptive pattern recognition of myoelectric signals: Exploration of conceptual framework and practical algorithms," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 17, no. 3, pp. 270-278, Jun. 2009.
14. P. M. Pilarski et al., "Online human training of a myoelectric prosthesis controller via actor-critic reinforcement learning," in Proc. IEEE Int. Conf. Rehabil. Robot., Zürich, Switzerland, 2011, pp. 1-7.
15. R. N. Khushaba, "Correlation analysis of electromyogram signals for multiuser myoelectric interfaces," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 22, no. 4, pp. 745-755, Jul. 2014.
16. V. Kamat and S. Ganesan, "A robust hough transform technique for description of multiple line segments in an image," in Proc. Int. Conf. Image Process., vol. 1. Chicago, IL, USA, 1998, pp. 216-220.
17. J. Kofman, X. Wu, T. J. Luu, and S. Verma, "Teleoperation of a robot manipulator using a vision-based human-robot interface," IEEE Trans. Ind. Electron., vol. 52, no. 5, pp. 1206-1219, Oct. 2005.
18. C. Yang et al., "Visual servoing control of baxter robot arms with obstacle avoidance using kinematic redundancy," in Intelligent Robotics and Applications (LNCS 9244). Cham, Switzerland: Springer, 2015, pp. 568-580.
19. H. Xiao, Z. Li, C. Yang, W. Yuan, and L. Wang, " RGB-D sensor-based visual target detection and tracking for an intelligent wheelchair robot in indoors environments," Int. J. Control Autom. Syst., vol. 13, no. 3, pp. 521-529, Jun. 2015.
20. Z. Li et al., "sEMG-based joint force control for an upper-limb powerassist exoskeleton robot," IEEE J. Biomed. Health Inform., vol. 18, no. 3, pp. 1043-1050, May 2014.
21. Z. Li, B. Wang, C. Yang, Q. Xie, and C.-Y. Su, "Boostingbased EMG patterns classification scheme for robustness enhancement," IEEE J. Biomed. Health Inform., vol. 17, no. 3, pp. 545-552, May 2013.
22. Y. Xia, J. Wang, and L.-M. Fok, "Grasping-force optimization for multifingered robotic hands using a recurrent neural network," IEEE Trans. Robot. Autom., vol. 20, no. 3, pp. 549-554, Jun. 2004.
23. Z. Li, S. Xiao, S. S. Ge, and H. Su, "Constrained multilegged robot system modeling and fuzzy control with uncertain kinematics and dynamics incorporating foot force optimization," IEEE Trans. Syst., Man, Cybern., Syst., vol. 46, no. 1, pp. 1-15, Jan. 2016.
24. S. A. Dalley, T. E. Wiste, T. J. Withrow, and M. Goldfarb, "Design of a multifunctional anthropomorphic prosthetic hand with extrinsic actuation," IEEE/ASME Trans. Mechatronics, vol. 14, no. 6, pp. 699-706, Dec. 2009.
25. R. Weir et al., "New multifunctional prosthetic arm and hand systems," in Proc. IEEE Int. Conf. EMBS, Lyon, France, 2007, pp. 4359-4360.
26. Z. Li, B. Wang, C. Yang, Q. Xie, and C.-Y. Su, "Boosting-based EMG patterns classification scheme for robustness enhancement," IEEE J. Biomed. Health Informat., vol. 17, no. 3, pp. 545-552, May 2013.
27. H. Su and B. He, "A simple rectification method of stereo image pairs with calibrated cameras," in Proc. 2nd Int. Conf. Inf. Eng. Comput. Sci. (ICIECS), Wuhan, China, 2010, pp. 1-4.
28. H. Hirschmuller, "Accurate and efficient stereo processing by semiglobal matching and mutual information," in Proc. IEEE Comput. Soc. Conf. Comput. Vis. Pattern Recognit., vol. 2. San Diego, CA, USA, Jun. 2005, pp. 807-814.
29. M. S. Bazaraa, H. D. Sherali, and C. M. Shetty, Nonlinear Programming Theory and Algorithms. New York, NY, USA: Wiley, 2013.
30. Z. Zhang and Y. Zhang, "Acceleration-level cyclic-motion generation of constrained redundant robots tracking different paths," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 42, no. 4, pp. 1257-1269, Aug. 2012.
31. Z. Li, C. Yang, C.-Y. Su, J. Deng, and W. Zhang, "Vision-based model predictive control for steering of a nonholonomic mobile robot," IEEE Trans. Control Syst. Technol., vol. 24, no. 2, pp. 553-564, Mar. 2016.
32. W. He, Y. Dong, and C. Sun, "Adaptive neural impedance control of a robotic manipulator with input saturation," IEEE Trans. Syst., Man, Cybern., Syst., vol. 46, no. 3, pp. 334-344, Mar. 2016.
33. Z. Li, H. Xiao, C. Yang, and Y. Zhao, "Model predictive control of nonholonomic chained systems using general projection neural networks optimization," IEEE Trans. Syst., Man, Cybern., Syst., vol. 45, no. 10, pp. 1313-1321, Oct. 2015.
34. E. A. Al-Gallaf, "Neuro-kinematics based dexterous robotics hand force optimization," J. Intell. Robot. Syst., vol. 50, no. 2, pp. 181-206, Oct. 2007.
35. H. Li, Z. Chen, L. Wu, H. K. Lam, and H. Du, "Event-triggered fault detection of nonlinear networked systems," IEEE Trans. Cybern., vol. 47, no. 4, pp. 1041-1052, Apr. 2017.
36. H. Li, J. Wang, H.-K. Lam, Q. Zhou, and H. Du, "Adaptive sliding mode control for interval type-2 fuzzy systems," IEEE Trans. Syst., Man, Cybern., Syst., vol. 46, no. 12, pp. 1654-1663, Dec. 2016.
37. H. Li, J. Wang, and P. Shi, "Output-feedback based sliding mode control for fuzzy systems with actuator saturation," IEEE Trans. Fuzzy Syst., vol. 24, no. 6, pp. 1282-1293, Dec. 2016.