Independent Control of Supernumerary Appendages Exploiting Upper Limb Redundancy

Shimobayashi, Hideki; Sasaki, Tomoya; Horie, Arata; Arakawa, Riku; Kashino, Zendai; İnami, Masahiko

doi:10.1145/3458709.3458980

Cited by 5 publications

(1 citation statement)

References 41 publications

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“…• in prosthesis control, T E R →E H is piloted by myoelectric activities of the stump and is often slow and nonintuitive leading to important body compensations [15] by T E H →W over T E R →E H ; • oppositely, in supernumerary robotic limbs, the weight of the robotic device limits the dexterity [16] of T E H →W (by creating imbalance and fatigue) and imposes the use of…”

Section: Introductionmentioning

confidence: 99%

Virtually turning robotic manipulators into worn devices: opening new horizons for wearable assistive robotics

Poignant¹,

Jarrassé²,

Morel³

2022

Preprint

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Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial operators. Despite numerous mechanical achievements, embedding these robotics devices remains critical due to their weight and discomfort. To emancipate from these mechanical constraints, we propose a new hybrid system using a virtually worn robotic arm in augmented-reality, and a real robotic manipulator servoed on such virtual representation. We aim at bringing an illusion of wearing a robotic system while its weight is fully deported, thinking that this approach could open new horizons for the study of wearable robotics without any intrinsic impairment of the human movement abilities.A video showing the set-ups and some of their applications can be found on YouTube at: https://youtu.be/EgwzT784Fws, and we will be referring to it throughout the paper.

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Section: Introductionmentioning

confidence: 99%

Virtually turning robotic manipulators into worn devices: opening new horizons for wearable assistive robotics

Poignant¹,

Jarrassé²,

Morel³

2022

Preprint

View full text Add to dashboard Cite

show abstract

I Need a Third Arm! Eliciting Body-based Interactions with a Wearable Robotic Arm

Muehlhaus

Koelle

Saberpour

et al. 2023

Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems

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MI-Poser

Arakawa,

Zhou,

Krishnan

et al. 2023

Proc. ACM Interact. Mob. Wearable Ubiquitous Technol.

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Inside-out tracking of human body poses using wearable sensors holds significant potential for AR/VR applications, such as remote communication through 3D avatars with expressive body language. Current inside-out systems often rely on vision-based methods utilizing handheld controllers or incorporating densely distributed body-worn IMU sensors. The former limits hands-free and occlusion-robust interactions, while the latter is plagued by inadequate accuracy and jittering. We introduce a novel body tracking system, MI-Poser, which employs AR glasses and two wrist-worn electromagnetic field (EMF) sensors to achieve high-fidelity upper-body pose estimation while mitigating metal interference. Our lightweight system demonstrates a minimal error (6.6 cm mean joint position error) with real-world data collected from 10 participants. It remains robust against various upper-body movements and operates efficiently at 60 Hz. Furthermore, by incorporating an IMU sensor co-located with the EMF sensor, MI-Poser presents solutions to counteract the effects of metal interference, which inherently disrupts the EMF signal during tracking. Our evaluation effectively showcases the successful detection and correction of interference using our EMF-IMU fusion approach across environments with diverse metal profiles. Ultimately, MI-Poser offers a practical pose tracking system, particularly suited for body-centric AR applications.

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Independent Control of Supernumerary Appendages Exploiting Upper Limb Redundancy

Cited by 5 publications

References 41 publications

Virtually turning robotic manipulators into worn devices: opening new horizons for wearable assistive robotics

Virtually turning robotic manipulators into worn devices: opening new horizons for wearable assistive robotics

I Need a Third Arm! Eliciting Body-based Interactions with a Wearable Robotic Arm

MI-Poser

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