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.

翻译：家庭移动操作机器人能够帮助颈段脊髓损伤患者完成原本无法独立完成的日常家务任务。然而，这类用户的运动功能障碍往往限制了其对传统机器人控制接口（如操纵杆或键盘）的使用。本研究首次开发并部署了一套系统，使四肢瘫痪用户能够通过双手高密度表面肌电信号在其自有住宅中控制移动操作机器人。我们设计了一对可穿戴于双臂的定制化织物集成高密度肌电前臂套袖，用于采集临床瘫痪自由度中残留的神经运动信号，并支持基于手势的实时机器人控制。其次，通过整合视觉、语言与运动规划模块，我们提出了一种共享自主性框架，该框架能够支持鲁棒且用户主导的遥操作，特别适用于家庭环境中导航密集型任务。最后，为验证系统在真实场景中的性能，我们开展了为期十二天的家庭用户研究，评估可穿戴肌电接口在日常机器人控制中的实时应用效果。这些系统组件共同实现了在真实家庭环境中有效控制机器人完成日常生活活动及其他家务任务的能力。