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Intent Detection via biological signals



The humanoid platform TORO teleoperated in hybrid position/force mode using surface electromyography.
 
Playing a virtual piano via ultrasound imaging.
 

Online-, Echtzeit-Interpretation von der aus dem Körper gesammelt Signalen (Elektromyographie, Druckmessungen, optical Tracking, Gestenerkennung, usw.) werden hierbei mit Ziel Absichterfassung eines menschlichen Subjektes verarbeitet: wann zu greifen, wie zu greifen, welche Körperteile zu bewegen und wie (Position, Geschwindigkeit, Kraft, Drehmoment); gegebenenfalls auch für den gesamten oberen Extremität - Handgelenk, Ellbogen, Schulter.

Die Hauptanwendungen sind in Assistive-Robotik gefunden, vor allem Hand/Arm/Handgelenk-Prothetik, mit Zweck oberen Gliedmaßen Amputierten; zusätzlich, Behandlung von neuropathischen Schmerzen und Muskel-Skelett-degenerative Erkrankungen wie z.B. Complex Regional Pain Syndrome und Schlaganfall.

Selected Publications

[1] Nowak, M. & Castellini, C. Wrist and grasp myocontrol: simplifying the training phase Proceedings of ICORR - International Conference on Rehabilitation Robotics, 2015, 339-344 DOI 10.1109/ICORR.2015.7281222

[2] Atzori, M.; Gijsberts, A.; Castellini, C.; Caputo, B.; Hager, A.-G. M.; Elsig, S.; Giatsidis, G.; Bassetto, F. & Müller, H. Electromyography data for non-invasive naturally-controlled robotic hand prostheses Scientific Data, 2014, 1, 140053, DOI 10.1038/sdata.2014.53

[3] Castellini, C.; Artemiadis, P.; Wininger, M.; Ajoudani, A.; Alimusaj, M.; Bicchi, A.; Caputo, B.; Craelius, W.; Dosen, S.; Englehart, K.; Farina, D.; Gijsberts, A.; Godfrey, S. B.; Hargrove, L.; Ison, M.; Kuiken, T. A.; Markovic, M.; Pilarski, P. M.; Rupp, R. & Scheme, E. Proceedings of the first workshop on Peripheral Machine Interfaces: Going beyond traditional surface electromyography Frontiers in Neurorobotics, 2014, 8, DOI fnbot.2014.00022

[4] Sierra González, D. & Castellini, C. A realistic implementation of ultrasound imaging as a human-machine interface for upper-limb amputees Frontiers in Neurorobotics, 2013, 7, DOI 10.3389/fnbot.2013.00017


Contact
Markus Nowak
German Aerospace Center

Institute of Robotics and Mechatronics
, Cognitive Robotics
Oberpfaffenhofen-Weßling

Tel.: +49 8153 28-4180

Fax: +49 8153 28-1134

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