EMG-based Feedback Modulation for Increased Transparency in Teleoperation

Lucas Schoot Uiterkamp, Francesco Porcini, Gwenn Englebienne, Antonio Frisoli, Douwe Dresscher

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)
59 Downloads (Pure)

Abstract

In interacting with stiff environments through teleoperated systems, time delays cause a mismatch between haptic feedback and the expected feedback by the operator. This mismatch causes artefacts in the feedback, which decrease transparency, but so does filtering these artefacts. Through modelling of operator stiffness and the expected feedback force with EMG, the artifacts can be selectively filtered without loss of transparency. We developed several feedback modulation techniques to bring the feedback force closer to the expected force: 1) the average between the modelled operator force and the feedback force, 2) a low pass filter and 3) a scaling modulation. To control for overdamping, a transparency check is included. We show that the averaging approach yields significantly better contacts than unmodulated feedback. None of the modulation algorithms differ significantly from the unmodulated feedback in transparency.
Original languageEnglish
Title of host publication2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Place of PublicationKyoto, Japan
PublisherIEEE
ISBN (Electronic)978-1-6654-7927-1
ISBN (Print)978-1-6654-7928-8
DOIs
Publication statusPublished - 26 Dec 2022
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 - Kyoto International Conference Center (ICC Kyoto), Kyoto, Japan
Duration: 23 Oct 202227 Oct 2022
https://iros2022.org/

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Abbreviated titleIROS 2022
Country/TerritoryJapan
CityKyoto
Period23/10/2227/10/22
Internet address

Keywords

  • Teleoperation
  • Haptic feedback
  • EMG
  • 2023 OA procedure

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