Intuitive Impedance Modulation in Haptic Control Using Electromyography

Kees Van Teeffelen, Douwe Dresscher, Wietse Van Dijk, Stefano Stramigioli

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

    1 Citation (Scopus)
    46 Downloads (Pure)

    Abstract

    Humans have multiple ways to adapt their arm dynamics to the task they have to perform. One way of doing this is through co-contraction of antagonist muscles. In telemanipulation this ability is easily lost due to time delays, quantization effects, bandwidth or hardware limitations. In this work a new concept for telemanipulation is presented. The end-point stiffness of a (simulated) telerobot is controlled via a variable impedance controller. The end effector stiffness scales with an estimate of the co-contraction around the elbow of the teleoperator. The telemanipulation concept was evaluated with ten subjects that performed two telemanipulation tasks in six different conditions. Three impedance levels: Low, high, and variable, and two delay settings. The first task was on positioning accuracy, the second task on impact minimization. We have shown that low and variable impedance performed significantly better on the force task than high impedance. We have also shown that high and variable impedance performed significantly better on the position task than low impedance. This shows that the human ability to control arm stiffness can effectively be transferred to a telemanipulated robot.

    Original languageEnglish
    Title of host publicationBIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics
    PublisherIEEE Computer Society
    Pages1211-1217
    Number of pages7
    ISBN (Electronic)9781538681831
    ISBN (Print)9781538681848
    DOIs
    Publication statusPublished - 9 Oct 2018
    Event7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
    : High Tech Human Touch
    - University Campus, Enschede, Netherlands
    Duration: 26 Aug 201829 Aug 2018
    Conference number: 7
    https://www.biorob2018.org/

    Conference

    Conference7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
    Abbreviated titleBioRob
    CountryNetherlands
    CityEnschede
    Period26/08/1829/08/18
    Internet address

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  • Cite this

    Van Teeffelen, K., Dresscher, D., Van Dijk, W., & Stramigioli, S. (2018). Intuitive Impedance Modulation in Haptic Control Using Electromyography. In BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (pp. 1211-1217). [8487883] IEEE Computer Society. https://doi.org/10.1109/BIOROB.2018.8487883