A Muscle Teleoperation System of a Robotic Rollator Based on Bilateral Shared Control

A Muscle Teleoperation System of a Robotic Rollator Based on Bilateral Shared Control

The approach that achieves the teleoperation between human muscle signals and the mobile robot is increasingly applied to transfer human muscle stiffness to enhance robotic performance. In this paper, we develop a mobile rollator control system applying a muscle teleoperation interface and a shared...

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Main Authors: Dingping Chen, Xuanyi Zhou, Jiehao Li, Jilin He, Xiaopeng Yu, Longbin Zhang, Wen Qi
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Muscle computer interface
artificial potential field
obstacle avoidance
Online Access:https://ieeexplore.ieee.org/document/9167436/
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spelling doaj-c6ee5891e0a34ad3b24d48918a70e9492021-03-30T04:47:18ZengIEEEIEEE Access2169-35362020-01-01815116015117010.1109/ACCESS.2020.30168419167436A Muscle Teleoperation System of a Robotic Rollator Based on Bilateral Shared ControlDingping Chen0Xuanyi Zhou1https://orcid.org/0000-0001-9584-9426Jiehao Li2https://orcid.org/0000-0002-4946-4434Jilin He3Xiaopeng Yu4Longbin Zhang5https://orcid.org/0000-0001-8785-5885Wen Qi6https://orcid.org/0000-0002-2091-3718State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, ChinaState Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, ChinaState Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, ChinaState Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, ChinaState Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, ChinaKTH Mechanics, KTH Royal Institute of Technology, Stockholm, SwedenDepartment of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, ItalyThe approach that achieves the teleoperation between human muscle signals and the mobile robot is increasingly applied to transfer human muscle stiffness to enhance robotic performance. In this paper, we develop a mobile rollator control system applying a muscle teleoperation interface and a shared control method to enhance the obstacle avoidance in an effective way. In order to control intuitively, haptic feedback is utilized in the teleoperation interface and is integrated with EMG stiffness to provide a large composition force. Then the composition force is implemented with an artificial potential field method to keep the robotic rollator away from the obstacle in advance. This algorithm is superior to the traditional APF algorithm regardless of the required time and trajectory length. The experimental results demonstrate the effectiveness of the proposed muscle teleoperation system.https://ieeexplore.ieee.org/document/9167436/Muscle computer interfaceartificial potential fieldobstacle avoidance
collection DOAJ
language English
format Article
sources DOAJ
author Dingping Chen
Xuanyi Zhou
Jiehao Li
Jilin He
Xiaopeng Yu
Longbin Zhang
Wen Qi
spellingShingle Dingping Chen
Xuanyi Zhou
Jiehao Li
Jilin He
Xiaopeng Yu
Longbin Zhang
Wen Qi
A Muscle Teleoperation System of a Robotic Rollator Based on Bilateral Shared Control
IEEE Access
Muscle computer interface
artificial potential field
obstacle avoidance
author_facet Dingping Chen
Xuanyi Zhou
Jiehao Li
Jilin He
Xiaopeng Yu
Longbin Zhang
Wen Qi
author_sort Dingping Chen
title A Muscle Teleoperation System of a Robotic Rollator Based on Bilateral Shared Control
title_short A Muscle Teleoperation System of a Robotic Rollator Based on Bilateral Shared Control
title_full A Muscle Teleoperation System of a Robotic Rollator Based on Bilateral Shared Control
title_fullStr A Muscle Teleoperation System of a Robotic Rollator Based on Bilateral Shared Control
title_full_unstemmed A Muscle Teleoperation System of a Robotic Rollator Based on Bilateral Shared Control
title_sort muscle teleoperation system of a robotic rollator based on bilateral shared control
publisher IEEE
series IEEE Access
issn 2169-3536
publishDate 2020-01-01
description The approach that achieves the teleoperation between human muscle signals and the mobile robot is increasingly applied to transfer human muscle stiffness to enhance robotic performance. In this paper, we develop a mobile rollator control system applying a muscle teleoperation interface and a shared control method to enhance the obstacle avoidance in an effective way. In order to control intuitively, haptic feedback is utilized in the teleoperation interface and is integrated with EMG stiffness to provide a large composition force. Then the composition force is implemented with an artificial potential field method to keep the robotic rollator away from the obstacle in advance. This algorithm is superior to the traditional APF algorithm regardless of the required time and trajectory length. The experimental results demonstrate the effectiveness of the proposed muscle teleoperation system.
topic Muscle computer interface
artificial potential field
obstacle avoidance
url https://ieeexplore.ieee.org/document/9167436/
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