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Force Estimation Algorithm using Deep Learning and Electromyogram

Title
Force Estimation Algorithm using Deep Learning and Electromyogram
Authors
KIM, SE JINCHUNG, WAN KYUN
Date Issued
25-Jun-2019
Publisher
Korea Robotics Society (KROS)
Abstract
Human-Robot Interaction (HRI) attracts attention from various fields. For successful HRI, robot has to respond appropriately with recognizing the human intention and force is a good index of it. However, force sensor is expensive and system becomes bulky with it. Therefore, force estimation is necessary to overcome these limitations. For estimation, deep learning approach is reasonable as it can extract highly complex and nonlinear model. However, as input data, position and velocity are not enough because of frictional effect. To compensate it, EMG sensor is used as it reflects the human motion. This paper proposes force estimation algorithm using deep learning and electromyogram.
URI
http://oasis.postech.ac.kr/handle/2014.oak/99516
Article Type
Conference
Citation
The 16th International Conference on Ubiquitous Robots, 2019-06-25
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 CHUNG, WAN KYUN
Dept of Mechanical Enginrg
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