兵工自动化2025，Vol.44Issue(4)：104-106,3.DOI:10.7690/bgzdh.2025.04.021
基于表面肌电信号和眼动追踪的人-多机器人协同控制方法
Human-multi-robot Cooperative Control Method Based on Surface Electromyography and Eye Tracking
胡益铭 1李鸿鑫 2朱鹏铭 2邱学凯 2曾志文 2代维 2肖军浩 2王长城3
作者信息
- 1. 中国兵器装备集团自动化研究所有限公司系统总体部,四川 绵阳 621000||国防科技大学智能科学学院,长沙 410073
- 2. 国防科技大学智能科学学院,长沙 410073
- 3. 中国兵器装备集团自动化研究所有限公司系统总体部,四川 绵阳 621000
- 折叠
摘要
Abstract
In order to improve the response ability and adaptability of robot system to complex instructions,a human-multi-robot shared control based on surface electromyography(sEMG)and eye tracking technology is proposed.The self-designed EMG wrist strap is used to collect the surface EMG signals of the operator's forearm in real time,and the lightweight convolutional neural network is designed to recognize typical gestures and map them into system control instructions.The eye tracker is used to obtain the operator's gaze point information and gaze trajectory,and the robot is selected and the desired path is drawn.Two new interaction modes are integrated to construct a human-computer interaction platform,and a human-multi-robot shared control system is constructed with multiple small robots.Experiments are carried out on a human-multi-robot hardware-in-the-loop simulation platform,and the results show that the shared control method is feasible and effective.关键词
人机交互/手势识别/表面肌电信号/眼动追踪Key words
human-computer interaction/hand gesture recognition/surface electromyography/eye tracking分类
信息技术与安全科学引用本文复制引用
胡益铭,李鸿鑫,朱鹏铭,邱学凯,曾志文,代维,肖军浩,王长城..基于表面肌电信号和眼动追踪的人-多机器人协同控制方法[J].兵工自动化,2025,44(4):104-106,3.
