Evaluation of simple microphone-based mechanomyography (MMG) probe sets for hand stiffness classification

• Autorzy: Zubrycki Igor , Granosik Grzegorz

Identyfikatory

DOI

10.14313/JAMRIS/2-2019/16

• Języki publikacji: EN

Abstrakty

EN

We describe simple to build mechanomyography sensors, with one or two channels, based on electret microphones. We evaluate their application as a source of information about the operator’s hand stiffness, which can be used for changing a robot’s gripper stiffness during teleoperation. We explain a data acquisition procedure for further employment of a machine-learning. Finally, we present the results of three experiments and various machine learning algorithms. support vector classification, random forests, and neural-network architectures (fullyconnected articial neural networks, recurrent, convolutional) were compared in two experiments. In first and second, two probes were used with a single participant, with probes displaced during learning and testing to evaluate the influence of probe placement on classifcation. In the third experiment, a dataset was collected using two probes and seven participants. As a result of the singleprobe tests, we achieved a (binary) classification accuracy of 94 % during the multi-probe tests, large crossparticipant differences in classifcation accuracy were noted, even when normalizing per-participant.

Słowa kluczowe

EN

MMG; acoustic myography; teleoperation; mechanomyography

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2019
• Tom: Vol. 13, No. 2
• Strony: 28--39
• Opis fizyczny: Bibliogr. 36 poz., rys.

Twórcy

autor

Zubrycki Igor

• Lodz University of Technology, Stefanowskiego 18/22, 90-924 Lodz, www: www.robotyka.p.lodz.pl

autor

Granosik Grzegorz

• Lodz University of Technology, Stefanowskiego 18/22, 90-924 Lodz, www: www.robotyka.p.lodz.pl

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).