Teleoperation enables a user to perform tasks from a remote location. Hence, the user can interact with a long-distance environment through the operation of a robotic system. Often, teleoperation is required in order to perform dangerous tasks (e.g., work in disaster zones or in chemical plants) while keeping the user out of harm's way. Nevertheless, common approaches often provide cumbersome and unnatural usage. In this letter, we propose TeleFMG, an approach for teleoperation of a multi-finger robotic hand through natural motions of the user's hand. By using a low-cost wearable Force-Myography (FMG) device, musculoskeletal activities on the user's forearm are mapped to hand poses which, in turn, are mimicked by a robotic hand. The mapping is performed by a data-based model that considers spatial positions of the sensors on the forearm along with temporal dependencies of the FMG signals. A set of experiments show the ability of a teleoperator to control a multi-finger hand through intuitive and natural finger motion. Furthermore, transfer to new users is demonstrated.

翻译：遥操作使用户能够从远程位置执行任务，从而通过操作机器人系统与远距离环境进行交互。通常，遥操作用于执行危险任务（例如在灾害区域或化工厂工作），同时确保用户远离危险。然而，常见方法往往提供笨重且不自然的操作体验。本文提出TeleFMG——一种通过用户手部自然运动实现多指机器人手遥操作的方法。通过使用低成本的穿戴式力-肌电图（FMG）设备，用户前臂的肌肉骨骼活动被映射为手部姿态，这些姿态随后由机器人手模仿。该映射基于数据模型，考虑了前臂传感器的空间位置以及FMG信号的时间依赖性。一系列实验表明，遥操作者能够通过直观且自然的手指运动控制多指手。此外，还验证了该方法对新用户的迁移能力。