中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Continuous Multi-DoF Wrist Kinematics Estimation Based on a Human–Machine Interface With Electrical-Impedance-Tomography

文献类型:期刊论文

作者Enhao Zheng3; Jingzhi Zhang2,3; Qining Wang1; Hong Qiao3
刊名Frontiers in Neurorobotics
出版日期2021
页码1-13
产权排序1
英文摘要

This study proposed a multiple degree-of-freedom (DoF) continuous wrist angle estimation approach based on an electrical impedance tomography (EIT) interface. The interface can inspect the spatial information of deep muscles with a soft elastic fabric sensing band, extending the measurement scope of the existing muscle-signal-based sensors. The designed estimation algorithm first extracted the mutual correlation of the EIT regions with a kernel function, and second used a regularization procedure to select the optimal coefficients. We evaluated the method with different features and regression models on 12 healthy subjects when they performed six basic wrist joint motions. The average root-mean-square error of the 3-DoF estimation task was 7.62°, and the average R2 was 0.92. The results are comparable to state-of-the-art with sEMG signals in multi-DoF tasks. Future endeavors will be paid in this new direction to get more promising results.

源URL[http://ir.ia.ac.cn/handle/173211/57568]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
通讯作者Enhao Zheng
作者单位1.Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing, China
2.School of General Engineering, Beihang University, Beijing, China
3.The State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Enhao Zheng,Jingzhi Zhang,Qining Wang,et al. Continuous Multi-DoF Wrist Kinematics Estimation Based on a Human–Machine Interface With Electrical-Impedance-Tomography[J]. Frontiers in Neurorobotics,2021:1-13.
APA Enhao Zheng,Jingzhi Zhang,Qining Wang,&Hong Qiao.(2021).Continuous Multi-DoF Wrist Kinematics Estimation Based on a Human–Machine Interface With Electrical-Impedance-Tomography.Frontiers in Neurorobotics,1-13.
MLA Enhao Zheng,et al."Continuous Multi-DoF Wrist Kinematics Estimation Based on a Human–Machine Interface With Electrical-Impedance-Tomography".Frontiers in Neurorobotics (2021):1-13.

入库方式: OAI收割

来源:自动化研究所

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