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Erschienen in:
2016 | OriginalPaper | Buchkapitel
11. Conclusions
verfasst von : Arash Ajoudani
Erschienen in: Transferring Human Impedance Regulation Skills to Robots
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Abstract
In this book the concept of teleimpedance control was introduced, as a method to effectively transfer the task-oriented stiffness profile from the human master to the robotic slave device. As an alternative to position-based or closed-loop bilateral force-reflecting teleoperation, the proposed approach enriches the command sent to the slave robot by combining the position reference with a stiffness (or full impedance) reference estimated from the human operator. The stiffness command to the robot was derived in real time from the measurement of EMGs from corresponding muscles of the operator.