Robot Hand Teleoperation

Building on the EMG expertise developed in our wearable hand orthosis project, we also introduced new methods for teleoperating stand-alone robotic hands using forearm EMG. We use a teleoperation subspace to map between the human pose space and the pose space of dexterous but non-anthropomorphic robot hands. We showed that such methods can be used for teleoperation using either an instrumented glove and an EMG armband, for novice users with no previous robotics experience.

Selected publications and resources

  • C. MeekerM. Haas-Heger and M. Ciocarlie. "A Continuous Teleoperation Subspace with Empirical and Algorithmic Mapping Algorithms for Non-Anthropomorphic Hands", IEEE Transactions on Automation Science and Engineering, in press [arXivvideo, link to IEEE Xplore]
  • C. Meeker. "Intuitive Human-Machine Interfaces for Non-Anthropomorphic Robotic Hands", Columbia University Doctoral Dissertation, 2020 [pdf, video of defense seminar]
  • C. Meeker and M. Ciocarlie. "EMG-Controlled Hand Teleoperation Using a Continuous Teleoperation Subspace", IEEE Intl. Conference on Robotics and Automation, 2019 [arXivvideo]
  • L. WangT. Chen and M. Ciocarlie. “A Platform for Remotely Assisted Versatile Manipulation In Orbit”,  Workshop on High Accuracy Mobile Manipulation in Challenging Environments, IEEE Intl. Conf. on Robotics and Automation, Montreal, May 2019 [poster]
  • C. MeekerT. Rasmussen and M. Ciocarlie. “Intuitive Hand Teleoperation by Novice Operators Using a Continuous Teleoperation Subspace”, IEEE Intl. Conference on Robotics and Automation, 2018 [arXivvideo]