A PDA-based Human-Robot Interaction using EMG-based Modified Morse code

摘要

The paper presents an innovative human-robot communication paradigm for people with disability using electromyography (EMG) signals via a personal digital assistant (PDA). The paper proposes a novel human-robot interaction architecture where the disabled people could interact with the robot using an EMG-based Morse code-inspired communication from portable devices. The user employs EMG signals to issue high-level commands to the robot that decomposes these commands into low-level primitive subtasks. Then, the robot dynamically constructs an action selection network to form the operational plan. The architecture is developed on a PDA that offers small and lightweight mobile interaction devices. Utilizing the PDA with EMG-based modified Morse code could provide flexibility, mobility, and durability for handicapped people to control the robot-aid system. The proposed paradigm has been implemented to develop a prototypical system, and the experiments also illustrate the conventionality, and the robustness of such a human-robot framework