筋電位を用いた離散的/連続的意図推定に基づく協調持ち上げシステムの実現

概要

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In human-machine cooperative lifting system, it is very important issue to estimate the operators intention such as the ‘lift up’, ‘move down’, ‘rotate’ and so on. This paper addresses how to estimate the operators intention using EMG signals, in particular, focusing on the discrete/continuous aspects of the operators intention. The discrete intention represents a kind of ‘mode’ and is estimated by using the logistic regression model. The continuous intention, which can be regarded as a magnitude of the specified motion, is estimated by using the PCA. Finally, the proposed cooperative lifting system is realized which includes not only the translational but also the rotational movement in two dimensional working space, and the usefulness is demonstrated.