A robust electromyography signals-based interaction interface for human-robot collaboration in 3D operation scenarios

Abstract

At present, the serious challenge of human-robot collaboration is how to establish an interaction interface with multi-directional interactivity and robustness. This paper applies surface electromyography (sEMG) signals as the interface medium, and proposes a robust 3D arm strength estimation model based on hybrid deep learning networks (R3DNet) to build a stable interaction interface and achieve reliable human-robot collaboration performance in 3D operation scenarios. R3DNet adopts the modular design idea and includes a feature extraction module, a regression estimation module, and a robust enhancement module. In the feature extraction module, an autoencoder structure-based network and a new loss function are proposed to extract the fusion features of multi-channel sEMG signals. In the regression estimation module, an arm strength model based on transfer learning algorithms is proposed. This model considers the similarity of arm strength estimation in each direction and realizes the arm strength estimation from one to three dimensions through the fine-tune strategy. The robust enhancement module adopts a residual structure and aims to address the problem of poor model robustness due to non-ideal conditions such as electrode displacement, muscle fatigue, muscle time-varying characteristics and differences in muscle characteristics among subjects. Further, an improved adaptive admittance control method is proposed to help the robot to adjust collaborative behavior according to the changing arm strength of the human tutor. The results of comparison experiments and multi-point flexible assembly experiments verify the validity and engineering realizability of R3DNet for human-robot collaboration.