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

Arash Ajoudani, Nikos Tsagarakis, Antonio Bicchi
2012 The international journal of robotics research  
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  ...  This work presents the concept of tele-impedance as a method for remotely controlling a robotic arm in interaction with uncertain environments.  ...  Toward the twofold purpose of resolving some of the limitations of existing bilateral teleoperation systems, and of better understanding and exploiting the human skills in impedance regulation in interaction  ... 
doi:10.1177/0278364912464668 fatcat:n7hamg64knfxje3n4ukc7577pu

Proposing MRSCC (Mind Reading Silicon Clock Chip) – A Skill Transformation Method between Human and Robot

Rimmy Chuchra, Prabhdeep Kaur
2016 International Journal of Computer Applications  
Haptic and Visual Training of system behavior-A case Study for robotic Programming by Demonstration, BIO web of conferences. [12] A.Ajoudani, N.G.Tsagarakuis and A.Bichhi, Tele-Impedence: Towards Transferring  ...  Human Impedance Regulation Skills to Robots. [13] Leonel Rozo, Sylvain Calinon, Darvin G.Caldwell, Learning force and position Constraints in Human-robot Co-operative Transformation, Idiap Research Institute  ... 
doi:10.5120/ijca2016912479 fatcat:sxekriiphjaslmszofemgfvndu

Design, Implementation, and Evaluation of a Variable Stiffness Transradial Hand Prosthesis

Elif Hocaoglu, Volkan Patoglu
2022 Frontiers in Neurorobotics  
The control of the variable stiffness transradial hand prosthesis is achieved by an sEMG based natural human-machine interface.  ...  Bowden cable based antagonistic VSA can, not only regulate the stiffness and the position of the prosthetic hand but also enables a light-weight and low-cost design, by the opportunistic placement of motors  ...  Both authors contributed to the editing and scientific presentation of the article.  ... 
doi:10.3389/fnbot.2022.789210 pmid:35360829 pmcid:PMC8960622 fatcat:ve34juszabapra7mbba5oq7gta

Optimization of Multi-step Force Controller Based on Human Characteristics

Yasuhiko Fukumoto, Natsuki Yamanobe, Weiwei Wan, Kensuke Harada
2020 Journal of the Robotics Society of Japan  
Our proposed method is composed of two processes: a human operator performs the same task by operating a master-slave robotic system, and then the parameter extracted from human demonstration is further  ...  optimized to minimize the cycle time of the task.  ...  Bicchi: "Tele-Impedance: Towards Transferring Human Impedance Regulation Skills to Robots," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.382-388, 2012. [ 5 ] A.X. Lee, H. Lu, A. Gupta, S.  ... 
doi:10.7210/jrsj.38.391 fatcat:iqb6fzqarfacfeojaongem2jly

Design, Implementation and Evaluation of a Variable Stiffness Transradial Hand Prosthesis [article]

Elif Hocaoglu, Volkan Patoglu
2019 arXiv   pre-print
The control of the variable stiffness transradial hand prosthesis is achieved by an sEMG based natural human-machine interface.  ...  Bowden cable-based antagonistic VSA can, not only regulate the stiffness and the position of the prosthetic hand, but also enables a light-weight and low-cost design, by opportunistic placement of motors  ...  We present such a human-machine interface, called tele-impedance control, in [40] .  ... 
arXiv:1910.12569v1 fatcat:prkuvm7f5be6tadp5ipaw77o4m

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

Ning Wang, Chenguang Yang, Michael R. Lyu, Zhijun Li
2014 2014 IEEE Aerospace Conference  
We know that in the presence of time delay in sensory feedback pathways, human neural control can easily maintain stability and even to show superior manipulation skills in unstable interaction scenarios  ...  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  ...  Peidong Liang who assisted in setting up the simulation platform and helped to collect EMG signals for simulation.  ... 
doi:10.1109/aero.2014.6836500 fatcat:z43zzhx7jbhllf4or2yomfwgsi

Information acquisition in physical human-machine interaction

Matjaž Ogrinc, Etienne Burdet
2018
Human ability to acquire and act upon sensory information trough touch is possible thanks to simultaneous control of arm motion, force and impedance.  ...  The integration of sensory cues allows humans to resolve ambiguities in everyday natural interactions. Here, this mechanism is exploited to enhance information transfer of abstract tactile cues.  ...  The limitations of the previous approach towards tele-impedance by Ajoudani et al. [47] were summarised.  ... 
doi:10.25560/58935 fatcat:26d6vfnxgjexlnmdhkzkpnzebe

Control and Learning of Compliant Manipulation Skills

Klas Jonas Alfred Kronander
2015
A haptic human-robot interface that allows a human supervisor to teach impedance variations by physically interacting with the robot during task execution is introduced.  ...  Furthermore, fast it can be shown that careless variation of the impedance can lead to unstable regulation or tracking even in free motion.  ...  Indeed, the whole motivation of LfD is to allow people without technical knowledge in robotics to transfer skills to the robot.  ... 
doi:10.5075/epfl-thesis-6717 fatcat:n3dfu5msgfdthgieaxpjpqkn4e