Tele-impedance: Teleoperation with impedance regulation using a body–machine interface

  title={Tele-impedance: Teleoperation with impedance regulation using a body–machine interface},
  author={Arash Ajoudani and Nikolaos G. Tsagarakis and Antonio Bicchi},
  journal={The International Journal of Robotics Research},
  pages={1642 - 1656}
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… 

Tele-manipulation with a humanoid robot under autonomous joint impedance regulation and vibrotactile balancing feedback

A comparative study shows that the proposed vibrotactile feedback allows for a proper recognition of the slave's drop of stability during interaction tasks and that the tactile guidance leads to enhanced teleoperation performances characterized by a significantly lower number of falls.

Tele-Impedance Control Approach Using Wearable Sensors

Tele-operational tasks often suffer from instability issues and limited reliability during unpredictable interactions. We propose a real-time control law reproducing the impedance and kinematic

An EMG enhanced impedance and force control framework for telerobot operation in space

It has been discovered and reported that the operation stability of human beings could be achieved by well adjusting the mechanical impedance, i.e., the resistance to imposed motion, which is largely contributed by the spring-like property of muscles.

Enhanced Tele-interaction in Unknown Environments Using Semi-Autonomous Motion and Impedance Regulation Principles

A novel shared-autonomy Tele-Interaction control approach that blends the motion commands from the pilot (master side) with locally (slave side) executed autonomous motion and impedance modulators is introduced that enables a remote robot to handle and autonomously avoid physical obstacles during manoeuvring, reduce interaction forces during contacts, and finally accommodate different payload conditions while at the same time operating with a “default” low impedance setting.

Multi-dimensional teleoperation using EMG based impedance control with force feedback

The goal of this master thesis is to extend the prior work towards a multi-dimensional approach with force feedback that is able to additionally command human stiffness in 1 DoF using sEMG.

Bilateral Teleoperation With Adaptive Impedance Control for Contact Tasks

This letter presents an adaptive impedance control architecture for robotic teleoperation of contact tasks featuring continuous interaction with the environment. We use Learning from Demonstration

A reduced-complexity description of arm endpoint stiffness with applications to teleimpedance control

Results of this study suggest that the proposed model enables the master to naturally execute a remote task by modulating the direction of the major axes of the endpoint stiffness and its volume using arm configuration and the co-activation of the involved muscles, respectively.

A Semi-Autonomous Tele-Impedance Method based on Vision and Voice Interfaces

A novel method for a semi-autonomous tele-impedance, where the controller exploits the robot vision to detect the environment and selects the appropriate impedance, and an additional verbal communication interface is developed that enables the human to confirm or correct the autonomous decision.

On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators

The proposed non-disruptive method is capable of estimating the arm end-point stiffness during the execution of virtual teleoperated tasks and shows a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.

Impedance matching strategy for physical human robot interaction control

A direct and physical interaction task between the human hand and robotic arm end-effector is realized to realize the matching impedance behavior of the robot to match the estimated human arm behavior.



EMG-based teleoperation and manipulation with the DLR LWR-III

A robotic arm/hand system that is controlled in realtime in 6D Cartesian space through measured human muscular activity through surface electromyography, which has potential applications in muscle-disorder rehabilitation or in teleoperation where a close-range, safe master/slave interaction is required, and/or when optical/magnetic position tracking cannot be enforced.

A human-assisting manipulator teleoperated by EMG signals and arm motions

A human-assisting manipulator teleoperated by electromyographic signals and arm motions that can realize a new master-slave manipulator system that uses no mechanical master controller and that could assist the amputee in performing desktop work is proposed.

Experimental and simulation studies of hard contact in force reflecting teleoperation

It is shown that human operator properties, which vary as a result of different types of grasp of the handle, affect the stability of the system in the hard-contact task, and human operator biomechanics must be taken into account to guarantee stable and ergonomic performance of advanced teleoperators.

Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction

An implementation of such concepts, consisting of a novel electromechanical Variable Stiffness Actuation (VSA) motor, is described, along with experimental results showing performance and safety of a one-link arm actuated by the VSA motor.

An EMG-Based Robot Control Scheme Robust to Time-Varying EMG Signal Features

EMG signals from muscles of the human upper limb are used as the control interface between the user and a robot arm, allowing the user to control in real time an anthropomorphic robot arm in 3-D space, using upper limb motion estimates based only on EMG recordings.

Human hand impedance characteristics during maintained posture

The experimental results in different subjects and hand locations are summarized as follows: the estimated inertia matrices of the human hand well agrees with computed values using a twojoint arm model, and spatial variations of the stiffness ellipses are consistent with the experimental results of Mussa-Ivaldi et al. (1985).

A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots

This paper describes a general passivity-based framework for the control of flexible joint robots and shows how, based only on the motor angles, a potential function can be designed which simultaneously incorporates gravity compensation and a desired Cartesian stiffness relation for the link angles.

A model of force and impedance in human arm movements

A simple computational model of joint torque and impedance in human arm movements that can be used to simulate three-dimensional movements of the (redundant) arm or leg and to design the control of robots and human-machine interfaces is described.

Dynamic and loaded impedance components in the maintenance of human arm posture

Joint damping is related to both joint stiffness and joint inertia; and two-joint impedances, i.e., impedances associated with muscles connected across both the elbow and shoulder joints, play a relatively smaller role in damping than in stiffness.

The DLR lightweight robot: design and control concepts for robots in human environments

The first systematic experimental evaluation of possible injuries during robot‐human crashes using standardized testing facilities is presented, and a consistent approach for using these sensors for manipulation in human environments is described.