Variable Admittance Control in pHRI using EMG-based Arm Muscles Co-Activation

被引：0

作者：

Grafakos, Stavros ^{[1
]}

Dimeas, Fotios ^{[1
]}

Aspragathos, Nikos ^{[1
]}

机构：

[1] Univ Patras, Robot Grp, Dept Mech Engn & Aeronaut, Patras, Greece

来源：

2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) | 2016年

关键词：

IMPEDANCE;

D O I：

暂无

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the co-activation level of the arm muscles is used as an indication of the end-point stiffness for improving human-robot cooperation. A variable admittance controller is proposed to adjust the virtual damping in real time by measuring the operator's muscle activation by means of surface EMG. An experimental user study is conducted that simulates both high accuracy and fast transition movements, involving human-robot interaction with a 7-DOF LWR serial manipulator. The proposed method is compared to constant admittance and is evaluated in terms of movement accuracy, execution time, and the operator's energy consumption. The results demonstrate that there is a significant reduction of the operator's effort and an improvement of the cooperative motion accuracy.

引用

页码：1900 / 1905

页数：6

共 48 条

[21] Co-activation alters the linear versus non-linear impression of the EMG-torque relationship of trunk muscles
Brown, Stephen H. M.
McGill, Stuart M.
[J]. JOURNAL OF BIOMECHANICS, 2008, 41 (03) : 491 - 497
[22] EMG-based Control For a Feeding Support Robot Using a Probabilistic Neural Network
Shima, Keisuke
Fukuda, Osamu
Tsuji, Toshio
Otsuka, Akira
Yoshizumi, Masao
[J]. 2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB), 2012, : 1788 - 1793
[23] FES-induced co-activation of antagonist muscles for upper limb control and disturbance rejection
Bo, Antonio Padilha L.
da Fonseca, Lucas O.
de Sousa, Ana Carolina C.
[J]. MEDICAL ENGINEERING & PHYSICS, 2016, 38 (11) : 1176 - 1184
[24] Compensation of the Effects of Muscle Fatigue on EMG-Based Control using Fuzzy Rules Based Scheme
Lalitharatne, Thilina Dulantha
Hayashi, Yoshiaki
Teramoto, Kenbu
Kiguchi, Kazuo
[J]. 2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2013, : 6949 - 6952
[25] EMG-based speech recognition using hidden Markov models with global control variables
Lee, Ki-Seung
[J]. IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 2008, 55 (03) : 930 - 940
[26] Assessment of Muscle Fatigue using a Probabilistic Framework for an EMG-based Robot Control Scenario
Artemiadis, Panagiotis K.
Kyriakopoulos, Kostas J.
[J]. 8TH IEEE INTERNATIONAL CONFERENCE ON BIOINFORMATICS AND BIOENGINEERING, VOLS 1 AND 2, 2008, : 624 - 629
[27] EMG-based teleoperation of a robot arm in planar catching movements using ARMAX model and trajectory monitoring techniques
Artemiadis, Panagiotis K.
Kyriakopoulos, Kostas J.
[J]. 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, : 3244 - +
[28] Fast Dual-Arm Manipulation Using Variable Admittance Control: Implementation and Experimental Results
Bjerkeng, Magnus
Schrimpf, Johannes
Myhre, Torstein
Pettersen, Kristin Y.
[J]. 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2014, : 4728 - 4734
[29] A Novel EMG-Based Variable Impedance Control Method for a Tele-Operation System Under an Unstructured Environment
Li, Jingjing
Li, Guibin
Chen, Zhen
Li, Jian
[J]. IEEE Access, 2022, 10 : 89509 - 89518
[30] Learning Human Reach-to-Grasp Strategies: Towards EMG-based Control of Robotic Arm-Hand Systems
Liarokapis, Minas V.
Artemiadis, Panagiotis K.
Katsiaris, Pantelis T.
Kyriakopoulos, Kostas J.
Manolakos, Elias S.
[J]. 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2012, : 2287 - 2292

← 1 2 3 4 5 →