An sEMG-Controlled RHex-T3 Hexapod Mobile Grasping Robot for As-sistive Object Retrieval

Junxian Li; Xiaohong Huang; Meihua Zhao

doi:10.63313/JCSFT.9074

Authors

Junxian Li School of Tiangong Innovation, Tiangong University, Tianjin 300387, China Author
Xiaohong Huang School of Mechanical Engineering, Tiangong University, Tianjin 300387, China Author
Meihua Zhao School of Tiangong Innovation, Tiangong University, Tianjin 300387, China Author

DOI:

https://doi.org/10.63313/JCSFT.9074

Keywords:

Surface Electromyography, Assistive Robot, Hexapod Robot, Mobile Manipulation, Gesture

Abstract

Assistive robots have strong potential in object retrieval, delivery, and remote interaction, but their practical usability depends on natural and low-burden human-machine interfaces. This study aims to develop an sEMG-controlled RHex-T3 hexapod mobile grasping robot system for assistive object retrieval. The proposed system integrates a multimodal hexapod chassis, robotic arm, camera-based wireless visual transmission module, sEMG acquisition and recognition module, and host-computer control terminal. Existing sEMG gesture recognition methods are deployed as a task-level robotic control interface, and a gesture-to-action mapping mechanism with hierarchical mode switching is designed to convert discrete gesture labels into chassis locomotion, mode-switching, and robotic-arm commands. Experiments are designed for online recognition, chassis control, grasping execution, and composite task completion. The results indicate that the proposed system can complete basic mobility, approach, grasping, and delivery tasks, verifying the preliminary feasibility of using sEMG to control a hexapod mobile manipulator for assistive object retrieval.

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