Supernumerary Robotics Device (SRD) is an ideal solution to provide robotic assistance in overhead manual manipulation. Since two arms are occupied for the overhead task, it is desired to have additional arms to assist us in achieving other subtasks such as supporting the far end of a long plate and pushing it upward to fit in the ceiling. In this study, a method that maps human muscle force to SRD for overhead task assistance is proposed. Our methodology is to utilize redundant DoFs such as the idle muscles in the leg to control the supporting force of the SRD. A sEMG device is worn on the operator's shank where muscle signals are measured, parsed, and transmitted to SRD for control. In the control aspect, we adopted stiffness control in the task space based on torque control at the joint level. We are motivated by the fact that humans can achieve daily manipulation merely through simple inherent compliance property in joint driven by muscles. We explore to estimate the force of some particular muscles in humans and control the SRD to imitate the behaviors of muscle and output supporting forces to accomplish the subtasks such as overhead supporting. The sEMG signals detected from human muscles are extracted, filtered, rectified, and parsed to estimate the muscle force. We use this force information as the intent of the operator for proper overhead supporting force. As one of the well-known compliance control methods, stiffness control is easy to achieve using a few of straightforward parameters such as stiffness and equilibrium point. Through tuning the stiffness and equilibrium point, the supporting force of SRD in task space can be easily controlled. The muscle force estimated by sEMG is mapped to the desired force in the task space of the SRD. The desired force is transferred into stiffness or equilibrium point to output the corresponding supporting force.

中文翻译：

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将人体肌肉力量映射到额外的机器人设备，用于辅助高空作业

多余机器人设备 (SRD) 是在高空手动操作中提供机器人辅助的理想解决方案。由于两个臂用于头顶任务，因此需要有额外的臂来帮助我们完成其他子任务，例如支撑长板的远端并将其向上推以适合天花板。在这项研究中，提出了一种将人体肌肉力量映射到 SRD 以进行头顶任务辅助的方法。我们的方法是利用冗余的自由度，例如腿部的闲置肌肉来控制 SRD 的支撑力。sEMG 设备佩戴在操作员的小腿上，在那里测量、解析肌肉信号并将其传输到 SRD 进行控制。在控制方面，我们在任务空间中采用了基于关节层面扭矩控制的刚度控制。我们受到这样一个事实的激励，即人类可以仅通过肌肉驱动的关节中简单的固有顺应性来实现日常操作。我们探索估计人类某些特定肌肉的力量并控制SRD模仿肌肉的行为并输出支撑力以完成诸如过顶支撑等子任务。从人体肌肉中检测到的 sEMG 信号被提取、过滤、校正和解析以估计肌肉力量。我们将此力信息用作操作员的意图，以获得适当的头顶支撑力。作为众所周知的柔量控制方法之一，刚度控制很容易通过刚度和平衡点等几个简单的参数来实现。通过调整刚度和平衡点，任务空间中SRD的支撑力可以很容易地控制。sEMG 估计的肌肉力量被映射到 SRD 任务空间中的所需力量。将所需的力转化为刚度或平衡点以输出相应的支撑力。