Dual-Myo Real-Time Control of a Humanoid Arm for Teleoperation

In this paper, we propose a ROS-based system to reconstruct the motion of human upper limb based on data collected with two Myo armbands in a hybrid manner. The inertial sensors' information are fused to reconstruct shoulder and elbow kinematics. Electromyographic (EMG) signals are used to estimate wrist kinematics, to fully capture the motion of the 5-DoF (degree of freedom) user's arm. The system shows a good pose estimation accuracy compared to the XSens suit with an average RMSE of $6.61^{\circ}\pm 3.31^{\circ}$ and a $R^{2}$ of $0.90\pm 0.07$ .