Detecting Human Motion Intention during pHRI Using Artificial Neural Networks Trained by EMG Signals

Abstract

With the recent advances in cobot (collaborative robot) technology, we can now work with a robot side by side in manufacturing environments. The collaboration between human and cobot can be enhanced by detecting the intentions of human to make the production more flexible and effective in future factories. In this regard, interpreting human intention and then adjusting the controller of cobot accordingly to assist human is a core challenge in physical human-robot interaction (pHRI). In this study, we propose a classifier based on Artificial Neural Networks (ANN) that predicts intended direction of human movement by utilizing electromyography (EMG) signals acquired from human arm muscles. We employ this classifier in an admittance control architecture to constrain human arm motion to the intended direction and prevent undesired movements along other directions. The proposed classifier and the control architecture have been validated through a path following task by utilizing a KUKA LBR iiwa 7 R800 cobot. The results of our experimental study with 6 participants show that the proposed architecture provides an effective assistance to human during the execution of task and reduces undesired motion errors, while not sacrificing from the task completion time.