High-density electromyography (HDEMG) can detect myoelectric activity as control inputs to a variety of electronically-controlled devices. Furthermore, HDEMG sensors may be built into a variety of clothing, allowing for a non-intrusive myoelectric interface that is integrated into a user's routine. In our work, we introduce an easily-producible HDEMG device that interfaces with the control of a mobile manipulator to perform a range of household and physically assistive tasks. Mobile manipulators can operate throughout the home and are applicable for a spectrum of assistive and daily tasks in the home. We evaluate the use of real-time myoelectric gesture recognition using our device to enable precise control over the intricate mobility and manipulation functionalities of an 8 degree-of-freedom mobile manipulator. Our evaluation, involving 13 participants engaging in challenging self-care and household activities, demonstrates the potential of our wearable HDEMG system to control a mobile manipulator in the home.

翻译：高密度肌电图（HDEMG）能够检测肌电活动，并将其作为多种电子控制设备的控制输入。此外，HDEMG传感器可内置于各类服装中，从而形成一种非侵入式、可融入用户日常生活的肌电接口。在本研究中，我们提出了一种易于制作的高密度肌电设备，该设备与移动机械臂的控制系统相连接，可执行一系列家庭及物理辅助任务。移动机械臂能够在整个家庭环境中运行，适用于家庭内的各类辅助性及日常性任务。我们评估了使用该设备进行实时肌电手势识别的效果，以实现对具有8自由度的移动机械臂复杂移动与操作功能的精确控制。我们的评估涉及13名参与者执行具有挑战性的自我护理与家庭活动，结果证明了我们可穿戴的高密度肌电系统在家庭环境中控制移动机械臂的潜力。