Abstract
Telemanipulation systems have been widely utilized in industrial, surgical, educational, and even military fields. One of the important issues is that when a robot interacts with environment or objects, it can damage the robot itself or the objects due to hard contact. To address this problem, we propose a novel compliance control of a slave robot using the electromyography (EMG) signal, which is measured by the sensors attached onto the master operator’s arm. The EMG signal is used since it is easy to process and it provides humans with an intuitive capability to perform the operational work. Furthermore, it has been proved that the EMG signal is useful in the control of the stiffness of the slave robot. This research identifies the muscle that is the best suitable to a precision-grip operation, and a series of experiments were performed. A compliance control algorithm with a variable stiffness of a slave robot is proposed, where the stiffness is changed based on the EMG signal, and it is confirmed by a series of experiments using a two-channel force/position teleoperation architecture.
Highlights
Telemanipulation systems have been used for diverse purposes [1,2,3]
To deal with the fixed stiffness issue of the impedance control, this paper proposes a compliance-control method for which the impedance value of the slave robot is modified in the teleoperation with the electromyography (EMG)-attached to operator’s arm
The EMG signal was used to change the stiffness of the slave robot
Summary
Telemanipulation systems have been used for diverse purposes [1,2,3]. Over the decades, research studies related to the industrial and surgical fields have been intensively conducted [4,5]. The impedance control modulates the mechanical impedance of the end-effector that is in contact with the environment [7,8] In this method, due to the fixed stiffness, the manipulator may still be damaged by the vibration, and several research studies were conducted to address this problem [9,10]. To deal with the fixed stiffness issue of the impedance control, this paper proposes a compliance-control method for which the impedance value of the slave robot is modified in the teleoperation with the electromyography (EMG)-attached to operator’s arm. Lenzi et al proposed human-robot interface that uses EMG signals to observe users’ movement intention assisted by the exoskeleton, reducing their muscle effort while maintaining the joint trajectory unaltered. A compliance control for the slave manipulator for which the EMG signal and a haptic device are utilized in the telemanipulation is proposed.
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