一个基于会员功能的广泛学习系统,用于在绘制任务下进行人机交互力估计
Biwei Tang1, Ruiqing Li1, Jing Luo2
1School of Automation, Wuhan University of Technology, Luoshi Road, Wuhan, 430070, Hubei, China.
Medical & biological engineering & computing
|June 3, 2023
概括
这项研究引入了一种新方法,用于使用广义学习系统 (BLS) 和表面电肌图 (sEMG) 信号来估计人机交互力. 结合时间和频率域的sEMG特征,可显著提高相互作用力估计的准确性和安全性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物医学工程 生物医学工程
- 机器学习 机器学习
背景情况:
- 准确估计相互作用力对于确保人机交互 (HRI) 的安全至关重要.
- 以前的方法往往忽略了历史的表面电肌图 (sEMG) 数据,导致不完整的力估计和精度降低.
- 表面电肌图 (sEMG) 信号包含有关人体肌肉力量的宝贵信息.
研究的目的:
- 提出一种新的方法来估计HRI中的相互作用力.
- 为了利用广泛的学习系统 (BLS) 和人类sEMG信号来改进力估计.
- 通过结合历史的sEMG数据来提高相互作用力估计的准确性和完整性.
主要方法:
- 开发了一个新的线性会员函数来计算sEMG信号在不同时间点的贡献.
- 集成的sEMG功能及其时间依赖的贡献到广泛的学习系统 (BLS) 的输入层.
- 探索了五种不同的sEMG特征,包括时间域 (TD) 和频率域 (FD),以及它们的组合.
主要成果:
- 拟议的方法有效地利用历史的sEMG数据通过一个新的会员功能.
- 结合sEMG信号的时间域 (TD) 和频域 (FD) 特性,可以明显提高相互作用力估计质量.
- 绘图任务的实验结果表明,拟议的基于BLS的方法在估计准确性方面优于现有技术.
结论:
- 这种新的方法将BLS与全面的sEMG特征分析集成在一起,在相互作用力估计方面取得了重大进展.
- 开发的线性成员函数成功地捕捉了sEMG信号的时间动态,以便更准确地预测力.
- 这种方法通过提供更精确的相互作用力估计来提高HRI的安全性,特别是在使用结合的TD和FDsEMG功能时.
相关概念视频
01:30Three-Dimensional Force System:Problem Solving
698
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
698
01:29Two-Dimensional Force System: Problem Solving
623
Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
623
01:30Three-Dimensional Force System
2.1K
In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
2.1K
01:20Two-Dimensional Force System
954
A two-dimensional system in mechanical engineering involves the analysis of motion and forces in a plane. A two-dimensional force vector can be resolved into its components as:
954
01:24One-Degree-of-Freedom System
520
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
520