Degree-wise control of an humanoid manipulator based on biceps brachii muscle activity
Bibliographic record
Abstract
Human arm performs dextrous movements through the voluntary contraction of muscles. To produce a given body movement, a group of muscles are usually acting in a synergic fashion. It is possible that information about a movement could also be extracted from an individual muscle within a synergic group. Physiologically, the large biceps brachii (BB) muscle is involved in forearm flexion and hand supination and also contributes to raising the arm forward and upward. For the BB, synergy can originate from its different compartments and their contribution identified with a decomposition algorithm applied on signals recorded over its surface. Here, the synergy extracted from 3 signals collected over the BB were used to control one degree of freedom (DoF) of the shoulder, elbow, and wrist joints of a dextrous humanoid arm manipulator. Synergy information could thus be useful for helping an upper-limb amputee person to control a modern myoelectric prosthesis.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".