2A1-D03 Realization of Cooperative Lifting System Based on Stochastic Estimation of Operator's Intention Using EMG

Abstract

In human-machine cooperative lifting system, it is necessary to estimate the operator's intention such as the 'lift up', 'move down', 'rotate' and so on. This paper addresses how to estimate the operator's intention based on the logistic regression model where the EMG signal is used for the regressor. In addition, the assisting force is calculated using the PCA. Finally, the proposed cooperative lifting system is realized which includes not only translational but also rotational movement in a two dimensional working space, and the usefulness is demonstrated.