Work in progress about EMG processing and using EMG for human-robot interaction (HRI)
A collection of modules for retrieving the signals from our EMG sensors (Delsys), do basic processing, streaming the data on a Yarp network , then use the processed signals for our HRI experiments (humans interacting with iCub).
If you are going to use these modules, please cite us:
Ivaldi, S.; Fritzsche, L.; Babic, J.; Stulp, F.; Damsgaard, M.; Graimann, B.;
Bellusci, G.; Nori, F. (2017) Anticipatory models of human movements and dynamics:
the roadmap of the AnDy project. Proc. Int. Conf. on Digital Human Models (DHM).
- Delsys Wireless EMG Sensors, model Trigno
- iCub robot (only if you are using EMGhuman2robot with the iCub option)
- C++ 11
- Yarp 3.x.x
- Qt5 (for the GUI)
git clone https://github.com/inria-larsen/emg-processing
cd emg-processing
mkdir build
cd build
ccmake ..
make
make install
For the moment we have only installed in Ubuntu 16.04
There is a server module, EMGserver that is connected to the TCP server of the Delsys. This module makes a first online filtering of the signals.
The module EMGhuman is used to retrieve the filtered EMG signal, selecting those that are actually used by this human, and computing an index of co-contraction for each pair of antagonyst muscles.
The module EMGhuman2robot is used to retrieve the icc pairs and update the robot's motion/compliance level according to some pre-defined policies.
Firstly, the user must guarantee that both the host computer (the one running Delsys software), and the client computer (the one running emg-processin modules) are connected to the same network.
TODO: Complete with the rest of the procedures ...
On terminal 1: EMGserver
On terminal 2: EMGhuman —from human_operator.ini
On terminal 3: EMGhuman2robot —from emg_operator2robot.ini
If you want the modules to automatically connect, use the --autoconnect option or set it inside the configuration files. There are numerous ports that are created by the modules. For connecting the ports one by one, please follow the XML template.
Open a yarpmanager, import the XML file, click on "run" then "connect".
The module EMGhuman needs a calibration phase.
TODO
The development of this software is partially supported by the European Project H2020 An.Dy. We thank Trinoma for their support with the Delsys sensors.