An Intuitive and Efficient Teleoperation Human–Robot Interface Based on a Wearable Myoelectric Armband
Although artificial intelligence technologies have significantly enhanced autonomous robots’ capabilities in perception, decision-making, and planning, their autonomy may still fail when faced with complex, dynamic, or unpredictable environments. Therefore, it is critical to enable users to take ove...
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MDPI AG
2025-07-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/10/7/464 |
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| author | Long Wang Zhangyi Chen Songyuan Han Yao Luo Xiaoling Li Yang Liu |
| author_facet | Long Wang Zhangyi Chen Songyuan Han Yao Luo Xiaoling Li Yang Liu |
| author_sort | Long Wang |
| collection | DOAJ |
| description | Although artificial intelligence technologies have significantly enhanced autonomous robots’ capabilities in perception, decision-making, and planning, their autonomy may still fail when faced with complex, dynamic, or unpredictable environments. Therefore, it is critical to enable users to take over robot control in real-time and efficiently through teleoperation. The lightweight, wearable myoelectric armband, due to its portability and environmental robustness, provides a natural human–robot gesture interaction interface. However, current myoelectric teleoperation gesture control faces two major challenges: (1) poor intuitiveness due to visual-motor misalignment; and (2) low efficiency from discrete, single-degree-of-freedom control modes. To address these challenges, this study proposes an integrated myoelectric teleoperation interface. The interface integrates the following: (1) a novel hybrid reference frame aimed at effectively mitigating visual-motor misalignment; and (2) a finite state machine (FSM)-based control logic designed to enhance control efficiency and smoothness. Four experimental tasks were designed using different end-effectors (gripper/dexterous hand) and camera viewpoints (front/side view). Compared to benchmark methods, the proposed interface demonstrates significant advantages in task completion time, movement path efficiency, and subjective workload. This work demonstrates the potential of the proposed interface to significantly advance the practical application of wearable myoelectric sensors in human–robot interaction. |
| format | Article |
| id | doaj-art-b7dbf898004342d49eacc3ed5e01b7e8 |
| institution | Kabale University |
| issn | 2313-7673 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-b7dbf898004342d49eacc3ed5e01b7e82025-08-20T03:32:12ZengMDPI AGBiomimetics2313-76732025-07-0110746410.3390/biomimetics10070464An Intuitive and Efficient Teleoperation Human–Robot Interface Based on a Wearable Myoelectric ArmbandLong Wang0Zhangyi Chen1Songyuan Han2Yao Luo3Xiaoling Li4Yang Liu5School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710048, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710048, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710048, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710048, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710048, ChinaSchool of Art and Design, Xi’an University of Technology, Xi’an 710049, ChinaAlthough artificial intelligence technologies have significantly enhanced autonomous robots’ capabilities in perception, decision-making, and planning, their autonomy may still fail when faced with complex, dynamic, or unpredictable environments. Therefore, it is critical to enable users to take over robot control in real-time and efficiently through teleoperation. The lightweight, wearable myoelectric armband, due to its portability and environmental robustness, provides a natural human–robot gesture interaction interface. However, current myoelectric teleoperation gesture control faces two major challenges: (1) poor intuitiveness due to visual-motor misalignment; and (2) low efficiency from discrete, single-degree-of-freedom control modes. To address these challenges, this study proposes an integrated myoelectric teleoperation interface. The interface integrates the following: (1) a novel hybrid reference frame aimed at effectively mitigating visual-motor misalignment; and (2) a finite state machine (FSM)-based control logic designed to enhance control efficiency and smoothness. Four experimental tasks were designed using different end-effectors (gripper/dexterous hand) and camera viewpoints (front/side view). Compared to benchmark methods, the proposed interface demonstrates significant advantages in task completion time, movement path efficiency, and subjective workload. This work demonstrates the potential of the proposed interface to significantly advance the practical application of wearable myoelectric sensors in human–robot interaction.https://www.mdpi.com/2313-7673/10/7/464wearable myoelectric armbandhuman–robot interactionteleoperationhybrid reference frame |
| spellingShingle | Long Wang Zhangyi Chen Songyuan Han Yao Luo Xiaoling Li Yang Liu An Intuitive and Efficient Teleoperation Human–Robot Interface Based on a Wearable Myoelectric Armband Biomimetics wearable myoelectric armband human–robot interaction teleoperation hybrid reference frame |
| title | An Intuitive and Efficient Teleoperation Human–Robot Interface Based on a Wearable Myoelectric Armband |
| title_full | An Intuitive and Efficient Teleoperation Human–Robot Interface Based on a Wearable Myoelectric Armband |
| title_fullStr | An Intuitive and Efficient Teleoperation Human–Robot Interface Based on a Wearable Myoelectric Armband |
| title_full_unstemmed | An Intuitive and Efficient Teleoperation Human–Robot Interface Based on a Wearable Myoelectric Armband |
| title_short | An Intuitive and Efficient Teleoperation Human–Robot Interface Based on a Wearable Myoelectric Armband |
| title_sort | intuitive and efficient teleoperation human robot interface based on a wearable myoelectric armband |
| topic | wearable myoelectric armband human–robot interaction teleoperation hybrid reference frame |
| url | https://www.mdpi.com/2313-7673/10/7/464 |
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