Abstract
Mobile manipulators in the home can enable people with cervical spinal cord injury (cSCI) to perform daily physical household tasks that they could not otherwise do themselves. However, paralysis in these users often limits access to traditional robot control interfaces such as joysticks or keyboards. In this work, we introduce and deploy the first system that enables a user with quadriplegia to control a mobile manipulator in their own home using bimanual high-density electromyography (HDEMG). We develop a pair of custom, fabric-integrated HDEMG forearm sleeves, worn on both arms, that capture residual neuromotor activity from clinically paralyzed degrees of freedom and support real-time gesture-based robot control. Second, by integrating vision, language, and motion planning modules, we introduce a shared autonomy framework that supports robust and user-driven teleoperation, with particular benefits for navigation-intensive tasks in home environments. Finally, to demonstrate the system in the wild, we present a twelve-day in-home user study evaluating real-time use of the wearable EMG interface for daily robot control. Together, these system components enable effective robot control for performing activities of daily living and other household tasks in a real home environment.
Abstract (translated)
家庭中的移动机械臂可以帮助患有颈椎脊髓损伤（cSCI）的人完成他们通常无法独自完成的日常家务任务。然而，这些用户的瘫痪往往限制了他们使用传统的机器人控制界面（如操纵杆或键盘）。在这项工作中，我们引入并部署了一种系统，使四肢瘫痪的用户能够在其家中通过双手高密度肌电图（HDEMG）来操控移动机械臂。我们开发了一对定制的、织入布料中的HDEMG前臂袖套，佩戴在双臂上，可以捕捉到临床认为瘫痪的自由度上的残留神经肌肉活动，并支持基于手势的实时机器人控制。 其次，通过整合视觉、语言和运动规划模块，我们引入了一个共享自主框架，以支持稳健且用户驱动的远程操作，在家庭环境中进行密集导航任务时尤其有益。最后，为了展示该系统在真实环境中的应用效果，我们开展了一项为期十二天的家庭使用者研究，评估了实时使用可穿戴EMG界面进行日常机器人控制的情况。 这些系统的组成部分共同使得有效操控机器人以完成日常生活活动及其他家务工作成为可能，在真实的家庭环境中得以实现。
URL
https://arxiv.org/abs/2602.02773
