# High-density Electromyography for Effective Gesture-based Control of Physically Assistive Mobile Manipulators

arXiv: https://arxiv.org/abs/2312.07745 · HTML: https://mlsanity.com/paper/2312.07745/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 12 Dec 2023.

## Built on by (most cited first, 6 of 6)

- [VoicePilot: Harnessing LLMs as Speech Interfaces for Physically Assistive Robots](https://mlsanity.com/paper/2404.04066/) (2024)
- [EMGBench: Benchmarking Out-of-Distribution Generalization and Adaptation for Electromyography](https://mlsanity.com/paper/2410.23625/) (2024)
- [Towards an LLM-Based Speech Interface for Robot-Assisted Feeding](https://mlsanity.com/paper/2410.20624/) (2024)
- [LAMS: LLM-Driven Automatic Mode Switching for Assistive Teleoperation](https://mlsanity.com/paper/2501.08558/) (2025)
- [DiG-Net: Enhancing Human-Robot Interaction through Hyper-Range Dynamic Gesture Recognition in Assistive Robotics](https://mlsanity.com/paper/2505.24786/) (2025)
- [MyoFlow: Anchor-Tied Rectified Flow for HD-sEMG Gesture Recognition Across Sessions and Subjects](https://mlsanity.com/paper/2609.17194/) (2026)

## Abstract (arXiv)

High-density electromyography (HDEMG) can detect myoelectric activity as control inputs to a variety of electronically-controlled devices. Furthermore, HDEMG sensors may be built into a variety of clothing, allowing for a non-intrusive myoelectric interface that is integrated into a user's routine. In our work, we introduce an easily-producible HDEMG device that interfaces with the control of a mobile manipulator to perform a range of household and physically assistive tasks. Mobile manipulators can operate throughout the home and are applicable for a spectrum of assistive and daily tasks in the home. We evaluate the use of real-time myoelectric gesture recognition using our device to enable precise control over the intricate mobility and manipulation functionalities of an 8 degree-of-freedom mobile manipulator. Our evaluation, involving 13 participants engaging in challenging self-care and household activities, demonstrates the potential of our wearable HDEMG system to control a mobile manipulator in the home.