HANNOVER MESSE 2019, 01 - 05 April

Haptic Control

Intuitive Impedance Modulation Haptic Control using Electromyography

Logo Stichting Federatie 4 Technische Uni

Exhibitor

Stichting Federatie 4 Technische Uni

Exhibitor details
Exhibitor details
Logo Haptic Control

Product description

Within the field of teleoperation, force feedback can be used to establish a haptic interaction with a remote environment through robotic devices. This allows an operator to intuitively conduct tasks over a distance, which can for instance be useful in places that are hard to reach or which involve safety risks for humans. This research focusses on using Electromyography (EMG) to relate the state of the operator's arm to the haptic control of a robotic arm. An impedance controller connects a haptic device (Force Dimension omega.7) on the operator's side to a robotic arm (KUKA LWR4+) located in the remote environment, creating a virtual connection between the two devices that can be interpreted as a virtual spring. The ideal stiffness level of this spring depends on the conducted task and its conditions, including any communication delays. The created design relates this stiffness level to the muscle activation levels of the operator by using live EMG recordings, resulting in a compliance of the virtual connection that is related to the compliance of the operator his arm. The EMG data is gathered by using a Myo Gesture Control Armband. The stability of the system is guaranteed through an energy monitoring approach. After realising the design, the effectiveness and intuitiveness of this variable impedance controller were studied by assessing the positioning accuracy, interaction control forces and time delayed behaviour during task execution experiments with multiple test subjects. This research is part of the i-Botics Joint Innovation Centre, a collaboration between TNO and the University of Twente.

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Hall 2, Stand C12

Dutch Pavillion
(Main stand)

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