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

Cao, Van Phan (2014) Multi-dimensional teleoperation using EMG based impedance control with force feedback. Master's. DLR-Interner Bericht. 572-2014/10, 82 S.

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Abstract

Nowadays, novel types of robotic systems are able to adjust in addition to an actively controlled impedance a passive intrinsic impedance, namely stiffness. Thus, similar to the human these robots are able to interact in an uncertain environment and change their compliance with respect to whatever is required by the task. In teleoperation, the electromechanical system which energetically connects an operator to a remote environment is often designed to be analogous to a light and rigid bar. If this is achieved, the force feedback is often regarded to be more faithful. However, the ability of impedance adaptability is not used here. In a recent work we have shown the benefits from an approach with force feedback that is able to additionally command human stiffness in 1 DoF using sEMG. The goal of this master thesis is to extend the prior work towards a multi-dimensional approach.

Item URL in elib:https://elib.dlr.de/90446/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Multi-dimensional teleoperation using EMG based impedance control with force feedback
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Cao, Van Phancaophan86 (at) gmail.comUNSPECIFIED
Date:31 March 2014
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:82
Status:Published
Keywords:Tele-Impedance, EMG, variable impedance, Teleoperation
Institution:Technische Universität Dortmund
Department:Institut für Produktionssysteme
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Höppner, Hannes
Deposited On:03 Dec 2014 21:05
Last Modified:31 Jul 2019 19:47

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