Human-robot shared control of articulated manipulator

摘要

This paper proposed a shared control method of articulated manipulator based on electrooculography (EOG). Firstly, a wearable EOG acquisition system was designed, which could translate the EOG signal to a computer by Wi-Fi. Secondly, the mapping relationship between the angle of eye movement and the characteristics of EOG was researched by experiments, and then the relative position decoding model based on the EOG signal of saccade were established. Finally, the shared control strategy integrating the direction recognition of saccade and the manipulator motion was proposed. As a result, the relative coordinates of targets which extracted from EOG signal can effectively guide the manipulator to reach the target and complete the control of manipulator. The research provides a new method for human-robot control.