Compliance Control of Slave Manipulator Using EMG Signal for Telemanipulation
Telemanipulation systems have been widely utilized in industrial, surgical, educational, and even military fields. One of the important issues is that when a robot interacts with environment or objects, it can damage the robot itself or the objects due to hard contact. To address this problem, we pr...
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doaj-d1344be511ca497e8612bef9c39295132020-11-25T02:16:10ZengMDPI AGApplied Sciences2076-34172020-02-01104143110.3390/app10041431app10041431Compliance Control of Slave Manipulator Using EMG Signal for TelemanipulationBummo Ahn0Seong Young Ko1Gi-Hun Yang2Robotics Group, Korea Institute of Industrial Technology, Gyeonggi-do, Ansan 15588, KoreaSchool of Mechanical Engineering, Chonnam National University, Gwangju 61186, KoreaRobotics Group, Korea Institute of Industrial Technology, Gyeonggi-do, Ansan 15588, KoreaTelemanipulation systems have been widely utilized in industrial, surgical, educational, and even military fields. One of the important issues is that when a robot interacts with environment or objects, it can damage the robot itself or the objects due to hard contact. To address this problem, we propose a novel compliance control of a slave robot using the electromyography (EMG) signal, which is measured by the sensors attached onto the master operator’s arm. The EMG signal is used since it is easy to process and it provides humans with an intuitive capability to perform the operational work. Furthermore, it has been proved that the EMG signal is useful in the control of the stiffness of the slave robot. This research identifies the muscle that is the best suitable to a precision-grip operation, and a series of experiments were performed. A compliance control algorithm with a variable stiffness of a slave robot is proposed, where the stiffness is changed based on the EMG signal, and it is confirmed by a series of experiments using a two-channel force/position teleoperation architecture.https://www.mdpi.com/2076-3417/10/4/1431emg signaltelemanipulationcompliance control |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Bummo Ahn Seong Young Ko Gi-Hun Yang |
spellingShingle |
Bummo Ahn Seong Young Ko Gi-Hun Yang Compliance Control of Slave Manipulator Using EMG Signal for Telemanipulation Applied Sciences emg signal telemanipulation compliance control |
author_facet |
Bummo Ahn Seong Young Ko Gi-Hun Yang |
author_sort |
Bummo Ahn |
title |
Compliance Control of Slave Manipulator Using EMG Signal for Telemanipulation |
title_short |
Compliance Control of Slave Manipulator Using EMG Signal for Telemanipulation |
title_full |
Compliance Control of Slave Manipulator Using EMG Signal for Telemanipulation |
title_fullStr |
Compliance Control of Slave Manipulator Using EMG Signal for Telemanipulation |
title_full_unstemmed |
Compliance Control of Slave Manipulator Using EMG Signal for Telemanipulation |
title_sort |
compliance control of slave manipulator using emg signal for telemanipulation |
publisher |
MDPI AG |
series |
Applied Sciences |
issn |
2076-3417 |
publishDate |
2020-02-01 |
description |
Telemanipulation systems have been widely utilized in industrial, surgical, educational, and even military fields. One of the important issues is that when a robot interacts with environment or objects, it can damage the robot itself or the objects due to hard contact. To address this problem, we propose a novel compliance control of a slave robot using the electromyography (EMG) signal, which is measured by the sensors attached onto the master operator’s arm. The EMG signal is used since it is easy to process and it provides humans with an intuitive capability to perform the operational work. Furthermore, it has been proved that the EMG signal is useful in the control of the stiffness of the slave robot. This research identifies the muscle that is the best suitable to a precision-grip operation, and a series of experiments were performed. A compliance control algorithm with a variable stiffness of a slave robot is proposed, where the stiffness is changed based on the EMG signal, and it is confirmed by a series of experiments using a two-channel force/position teleoperation architecture. |
topic |
emg signal telemanipulation compliance control |
url |
https://www.mdpi.com/2076-3417/10/4/1431 |
work_keys_str_mv |
AT bummoahn compliancecontrolofslavemanipulatorusingemgsignalfortelemanipulation AT seongyoungko compliancecontrolofslavemanipulatorusingemgsignalfortelemanipulation AT gihunyang compliancecontrolofslavemanipulatorusingemgsignalfortelemanipulation |
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