NDLI: Tele-impedance: Towards transferring human impedance regulation skills to robots

Content Provider	IEEE Xplore Digital Library
Author	Ajoudani, A. Tsagarakis, N.G. Bicchi, A.
Copyright Year	2012
Description	Author affiliation: Interdepartmental Research Centre “E. Piaggio”, Faculty of Engineering, University of Pisa, Italy (Ajoudani, A.; Bicchi, A.) \|\| Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genova, Italy (Tsagarakis, N.G.)
Abstract	This work presents the novel concept of Tele-Impedance as a method for controlling/teleoperating a robotic arm while performing tasks which require significant dynamics variation. As an alternative method to bilateral force-reflecting teleoperation control approach, which uses a position/velocity command combined with force feedback from the robot side, Tele-Impedance enriches the command sent to the slave robot by combining the position reference with a stiffness (or full impedance) reference estimated from the arm of the human operator. We propose a new method to estimate the stiffness of the human arm based on the agonist-antagonist muscular co activations. The concept of the Tele-Impedance is demonstrated using the KUKA light weight robotic arm as the slave manipulator in a ball reception experiment. The performance of Tele-Impedance control method is assessed by comparing the results obtained while receiving the ball, with the slave arm under i) constant low stiffness, ii) constant high stiffness or iii) under Tele-Impedance control. Performance indexes are defined and used for the comparative study of the ball reception performances under the different endpoint elastic profiles. The experimental results demonstrate the effectiveness of the task-related Tele-Impedance control method and highlight its potential use to execute tasks which require significant dynamics variation.
Starting Page	382
Ending Page	388
File Size	959877
Page Count	7
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224904
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Force Impedance Muscles Robot sensing systems Electromyography
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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