THE IMPEDANCE AND POSITION CONTROL OF THE ROBOT MANIPULATOR BY THE EMG SIGNAL
Koji Ito, Mikiko Hori, Toshio Kondo
Abstract:
The present paper proposes a human interface regulating the viscoelastic characteristics of the robot manipulator by the EMG signals picked up from the subject. The desired trajectory intended by the subject is generated through the bilinear internal arm model with the EMG input signals, and then the viscoelastic coefficients of robot manipulator are regulated corresponding to the sum of the flexor and extensor EMG levels. It is then shown that the subject is able to change the interactive characteristics against the robot’s environment by his own intention.
Keywords:
EMG, Impedance control, manipulator
Download:
PWC-2003-TC18-004.pdf
DOI:
-
Event details
Event name:
XVII IMEKO World Congress
Title:

Metrology in the 3rd Millennium

Place:
Dubrovnik, CROATIA
Time:
22 June 2003 - 28 June 2003
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