MYOELECTRIC TELEOPERATION OF A COMPLEX ROBOTIC HAND

Teleoperation continues to be a primary control mode in robotics appli cations, particularly for robots with complex hands, This paper detail s a novel method of teleoperation of complex anthropomorphic robotic h ands: converting the myoelectric signal (generated by the operator's m uscles during movement) into robot commands replicating the motion, My oelectric prosthetic hands have used this user interface for over two decades; however, the feasibility of using this approach for commandin g more than one degree-of-freedom, as in the pincher type grip in curr ent myoelectric hands, has been in question, The research described in this paper addresses myoelectric control of NASA/Johnson Space Center 's sixteen degree-of-freedom Utah/MIT Dextrous Hand for two grasping ( key and chuck) options and three thumb motions (abduction, extension, and flexion), We discuss myoelectric signal processing approaches, dat a collection apparatus, and a realtime teleoperation implementation, W e also present results in realtime discrimination of key and chuck gra sps and offline discrimination of thumb motions, Our results include a 90% correct grasp selection rate and an 87% correct thumb motion sele ction, both using the myoelectric spectrum.