Tele-Impedance: Preliminary results on measuring and replicating human arm impedance in tele operated robots | IEEE Conference Publication | IEEE Xplore

Tele-Impedance: Preliminary results on measuring and replicating human arm impedance in tele operated robots


Abstract:

This work introduces the concept of Tele-Impedance as a method for controlling/teleoperating a robotic arm in contact with the environment. Opposite to bilateral force-re...Show More

Abstract:

This work introduces the concept of Tele-Impedance as a method for controlling/teleoperating a robotic arm in contact with the environment. Opposite to bilateral force-reflecting teleoperation control approach, which uses a position/velocity command combined with force feedback from the robot side, Tele-Impedance enriches the command sent to the slave robot by combining the position reference with a stiffness (or full impedance) reference. The desired stiffness profile is directly estimated from the arm of the human operating the remote robotic arm. We preliminarily investigate the effectiveness of this method while teleoperating a slave robotic arm to execute simple tasks. The KUKA light weight robotic arm is used as the slave manipulator. The endpoint (wrist) position of the human arm is monitored by an optical tracking system while the stiffness of the human arm is estimated from the electromyography (EMGs) signal measurements of four flexor-extensor muscle pairs, in realtime. The performance of Tele-Impedance control method is assessed by comparing the results obtained while executing a peg-in-hole task, with the slave arm under i) constant low stiffness, ii) constant high stiffness or iii) under Tele-Impedance control. The experimental results demonstrate the effectiveness of the Tele-Impedance control method and highlight its potential use to safely execute tasks with uncertain environment constraints which may result in large deviations from the commanded position trajectories.
Date of Conference: 07-11 December 2011
Date Added to IEEE Xplore: 12 April 2012
ISBN Information:
Conference Location: Karon Beach, Thailand
References is not available for this document.

I. Introduction

Over the past decades, applications of robots in unstructured and hostile for human environments have seen an intensive use of Master-Slave teleoperation systems often based on feedback sensory data.

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References

References is not available for this document.