摘要
A long history has passed since electromyography(EMG)signals have been explored in human-centered robots for intuitive interaction.However,it still has a gap between scientific research and real-life applications.Previous studies mainly focused on EMG decoding algorithms,leaving a dynamic relationship between the human,robot,and uncertain environment in real-life scenarios seldomly concerned.To fill this gap,this paper presents a comprehensive review of EMG-based techniques in human-robot-environment interaction(HREI)systems.The general processing framework is summarized,and three interaction paradigms,including direct control,sensory feedback,and partial autonomous control,are introduced.EMG-based intention decoding is treated as a module of the proposed paradigms.Five key issues involving precision,stability,user attention,compliance,and environmental awareness in this field are discussed.Several important directions,including EMG decomposition,robust algorithms,HREI dataset,proprioception feedback,reinforcement learning,and embodied intelligence,are proposed to pave the way for future research.To the best of what we know,this is the first time that a review of EMG-based methods in the HREI system is summarized.It provides a novel and broader perspective to improve the practicability of current myoelectric interaction systems,in which factors in human-robot interaction,robot-environment interaction,and state perception by human sensations are considered,which has never been done by previous studies.
基金
supported by the National Key Research and Development Program of China(2022YFF1202500,2022YFF1202502,2022YFB4703200,2023YFB4704700,2023YFB4704702)
the National Natural Science Foundation of China(U22A2067,U20A20197,61773369,61903360,92048302,62203430)
the Self-Planned Project of the State Key Laboratory of Robotics(2023-Z05)
China Postdoctoral Science Foundation funded project(2022M723312)。
作者简介
Dezhen Xiong(Student Member,IEEE)received the B.E.degree in automation from North University of China,in 2018.He is currently pursuing the Ph.D.degree with the State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,and also with the University of Chinese Academy of Sciences.His research interests include biomedical signal processing,neurorehabilitation,human-robot-environment interaction,and pattern recognition.(e-mail:xiongdezhen@sia.cn);Daohui Zhang(Member,IEEE)received the B.E.degree in mechanical engineering and automation from Northeastern University,in 2010,and the Ph.D.degree in pattern recognition and intelligent system from Shenyang Institute of Automation,Chinese Academy of Sciences,in 2018.He is currently an Associate Professor with the State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences.His research interests include nonlinear estimation and control,robotics,and pattern recognition.(e-mail:zhangdaohui@sia.cn);Yaqi Chu received the B.E.from Qufu Normal University in 2012,the M.E.degree from Shenyang Ligong University in 2015,and the Ph.D.degree in mechatronic engineering from the University of Chinese Academy of Sciences in 2021.He is currently an Assistant Professor with the Shenyang Institute of Automation,Chinese Academy of Sciences.His research interests include EEG/EMG signal decoding,brain-computer interface,human-machine interaction,and AI-driven robot control.(e-mail:chuyaqi@si.cn);Yiwen Zhao received the Ph.D.degree in mechatronic engineering from the Shenyang Institute of Automation,Chinese Academy of Sciences in 2000.He is currently a Professor with the State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences.His research interests include medical robots,autonomous mobile robots,and intelligent system control.(e-mail:zhaoyw@sia.cn);Corresponding author:Xingang Zhao(Senior Member,IEEE)received the B.E.and M.E.degrees in mechanics from Jilin University in 2000 and 2004,respectively,and the Ph.D.degree in pattern recognition and intelligent systems from Shenyang Institute of Automation Chinese Academy of Sciences in 2008.From 2015 to 2016,he was a Visiting Scientist with the Rehabilitation Institute of Chicago,USA.He is currently a Professor with the State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences.His research interests include medical robots,rehabilitation robots,robot control,and pattern recognition.(e-mail:zhaoxingang@sia.cn).
