Continuous Multi-DoF Wrist Kinematics Estimation Based on a Human-Machine Interface With Electrical-Impedance-Tomography

doi:10.3389/fnbot.2021.734525

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 机器人应用与理论组

	Continuous Multi-DoF Wrist Kinematics Estimation Based on a Human-Machine Interface With Electrical-Impedance-Tomography
	Zheng, Enhao 1; Zhang, Jingzhi 1,2; Wang, Qining 3; Qiao, Hong 1
刊名	FRONTIERS IN NEUROROBOTICS
	2021-09-30
卷号	15 页码:13
关键词	wrist angle estimation electrical-impedance-tomography multi-DoF Lasso human-machine interface
ISSN号	1662-5218
DOI	10.3389/fnbot.2021.734525
通讯作者	Zheng, Enhao(enhao.zheng@ia.ac.cn)
英文摘要	This study proposed a multiple degree-of-freedom (DoF) continuous wrist angle estimation approach based on an electrical impedance tomography (EIT) interface. The interface can inspect the spatial information of deep muscles with a soft elastic fabric sensing band, extending the measurement scope of the existing muscle-signal-based sensors. The designed estimation algorithm first extracted the mutual correlation of the EIT regions with a kernel function, and second used a regularization procedure to select the optimal coefficients. We evaluated the method with different features and regression models on 12 healthy subjects when they performed six basic wrist joint motions. The average root-mean-square error of the 3-DoF estimation task was 7.62 degrees, and the average R-2 was 0.92. The results are comparable to state-of-the-art with sEMG signals in multi-DoF tasks. Future endeavors will be paid in this new direction to get more promising results.
资助项目	National Natural Science Foundation of China[62073318]
WOS关键词	OF-THE-ART ; EMG ; MOTION ; PREDICTION ; MOVEMENTS
WOS研究方向	Computer Science ; Robotics ; Neurosciences & Neurology
语种	英语
出版者	FRONTIERS MEDIA SA
WOS记录号	WOS:000707780900001
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/46197]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
通讯作者	Zheng, Enhao
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 2.Beihang Univ, Sch Gen Engn, Beijing, Peoples R China 3.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Zheng, Enhao,Zhang, Jingzhi,Wang, Qining,et al. Continuous Multi-DoF Wrist Kinematics Estimation Based on a Human-Machine Interface With Electrical-Impedance-Tomography[J]. FRONTIERS IN NEUROROBOTICS,2021,15:13.
APA	Zheng, Enhao,Zhang, Jingzhi,Wang, Qining,&Qiao, Hong.(2021).Continuous Multi-DoF Wrist Kinematics Estimation Based on a Human-Machine Interface With Electrical-Impedance-Tomography.FRONTIERS IN NEUROROBOTICS,15,13.
MLA	Zheng, Enhao,et al."Continuous Multi-DoF Wrist Kinematics Estimation Based on a Human-Machine Interface With Electrical-Impedance-Tomography".FRONTIERS IN NEUROROBOTICS 15(2021):13.