A model of force and impedance in human arm movements
Biological Cybernetics
International Journal of Robotics Research
Can co-activation reduce kinematic variability? A simulation study
Biological Cybernetics
Surface EMG in advanced hand prosthetics
Biological Cybernetics - Volume 100: Half a Century of Biological Cybernetics
An EMG-based robot control scheme robust to time-varying EMG signal features
IEEE Transactions on Information Technology in Biomedicine - Special section on new and emerging technologies in bioinformatics and bioengineering
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This work presents the concept of tele-impedance as a method for remotely controlling a robotic arm in interaction with uncertain environments. As an alternative to bilateral force-reflecting teleoperation control, in tele-impedance a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller without explicit feedback to the operator. We derive the reference command from a novel body-machine interface (BMI) applied to the master operator's arm, using only non-intrusive position and electromyography (EMG) measurements, and excluding any feedback from the remote site except for looking at the task. The proposed BMI exploits a novel algorithm to decouple the estimates of force and stiffness of the human arm while performing the task. The endpoint (wrist) position of the human arm is monitored by an optical tracking system and used for the closed-loop position control of the robot's end-effector. The concept is demonstrated in two experiments, namely a peg-in-the-hole and a ball-catching task, which illustrate complementary aspects of the method. The performance of tele-impedance control is assessed by comparing the results obtained with the slave arm under either constantly low or high stiffness.