基于表面肌电信号和眼动追踪的人-多机器人协同控制方法  

Human-multi-robot Cooperative Control Method Based on Surface Electromyography and Eye Tracking

作　　者：胡益铭 李鸿鑫 朱鹏铭 邱学凯 曾志文 代维 肖军浩 王长城 Hu Yiming;Li Hongxin;Zhu Pengming;Qiu Xuekai;Zeng Zhiwen;Dai Wei;Xiao Junhao;Wang Changcheng(Department of System General,Automation Research Institute Co.,Ltd.of China South Industries Groups Corporation,Mianyang 621000,China;College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]中国兵器装备集团自动化研究所有限公司系统总体部,四川绵阳621000 [2]国防科技大学智能科学学院,长沙410073

出　　处：《兵工自动化》2025年第4期104-106,共3页Ordnance Industry Automation

摘　　要：为提高机器人系统对复杂指令的响应能力和适应性,提出基于表面肌电信号(surfaceelectromyography,sEMG)和眼动追踪(Eye-Tracking)技术的人-多机器人共享控制。使用自主设计的肌电腕带实时采集操作员前臂的表面肌电信号,通过设计轻量级卷积神经网络识别典型的手势,并映射为系统控制指令。使用眼动跟踪仪获取操作员的注视点信息和视线轨迹,实现机器人选定和期望路径绘制。集成2种新型交互方式构建人机交互平台,并与多台小型机器人构成人-多机器人共享控制系统。在搭建的人-多机器人半实物仿真平台上进行实验。结果表明,该共享控制方法具备可行性和有效性。In order to improve the response ability and adaptability of robot system to complex instructions,a human-multi-robot shared control based on surface electromyography(sEMG)and eye tracking technology is proposed.The self-designed EMG wrist strap is used to collect the surface EMG signals of the operator's forearm in real time,and the lightweight convolutional neural network is designed to recognize typical gestures and map them into system control instructions.The eye tracker is used to obtain the operator's gaze point information and gaze trajectory,and the robot is selected and the desired path is drawn.Two new interaction modes are integrated to construct a human-computer interaction platform,and a human-multi-robot shared control system is constructed with multiple small robots.Experiments are carried out on a human-multi-robot hardware-in-the-loop simulation platform,and the results show that the shared control method is feasible and effective.

关 键 词：人机交互 手势识别 表面肌电信号 眼动追踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]