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

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.