用于四肢瘫痪用户居家移动操作的双侧高密度肌电控制
Bimanual High-Density EMG Control for In-Home Mobile Manipulation by Users with Quadriplegia
AI总结：
针对颈椎脊髓损伤用户，提出双侧高密度肌电（HDEMG）前臂袖套，结合共享自主框架实现实时手势控制移动操作器，经12天居家研究验证日常任务有效性。
摘要：
家中的移动操作器可以使颈椎脊髓损伤（cSCI）患者执行他们原本无法自行完成的日常家务任务。然而，这些用户的瘫痪通常限制了他们对传统机器人控制界面（如操纵杆或键盘）的访问。在这项工作中，我们介绍并部署了首个系统，该系统使四肢瘫痪用户能够利用来自身体瘫痪部位的运动意图，通过双侧高密度肌电（HDEMG）控制移动操作器。我们开发了一对定制的、织物集成的HDEMG前臂袖套，佩戴在双臂上，捕获来自临床瘫痪自由度的残余神经肌肉活动，并支持基于手势的实时机器人控制。我们在（n=2）名cSCI用户中实现了基于运动意图的高分类准确率，最高达到98.0%。其次，通过集成视觉、语言和运动规划模块，我们引入了一个共享自主框架，支持稳健且用户驱动的遥操作，特别有利于家庭环境中导航密集型任务。最后，为了在真实环境中演示该系统，我们进行了一项为期12天的居家用户研究，评估可穿戴EMG界面在每日机器人控制中的实时使用。这些系统组件共同实现了在真实家庭环境中执行日常生活活动（ADL）和其他家务任务的有效机器人控制。
英文摘要：
Mobile manipulators in the home can enable people with cervical spinal cord injury (cSCI) to perform daily physical household tasks that they could not otherwise do themselves. However, paralysis in these users often limits access to traditional robot control interfaces such as joysticks or keyboards. In this work, we introduce and deploy the first system that enables a user with quadriplegia to control a mobile manipulator using intent from paralyzed parts of their body, using bimanual high-density electromyography (HDEMG). We develop a pair of custom, fabric-integrated HDEMG forearm sleeves, worn on both arms, that capture residual neuromotor activity from clinically paralyzed degrees of freedom and support real-time gesture-based robot control. We achieve high classification accuracies based on motor intent across (n = 2) users with cSCI, achieving up to 98.0%. Second, by integrating vision, language, and motion planning modules, we introduce a shared autonomy framework that supports robust and user-driven teleoperation, with particular benefits for navigation-intensive tasks in home environments. Finally, to demonstrate the system in the wild, we present a twelve-day in-home user study evaluating real-time use of the wearable EMG interface for daily robot control. Together, these system components enable effective robot control for performing activities of daily living (ADLs) and other household tasks in a real home environment.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
