scholarly journals Compliance Control of Slave Manipulator Using EMG Signal for Telemanipulation

2020 ◽  
Vol 10 (4) ◽  
pp. 1431
Author(s):  
Bummo Ahn ◽  
Seong Young Ko ◽  
Gi-Hun Yang
Keyword(s):  
Control Algorithm ◽  
Precision Grip ◽  
Variable Stiffness ◽  
Compliance Control ◽  
Emg Signal ◽  
Series Of Experiments ◽  
Hard Contact

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.

scholarly journals Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Bingshan Hu ◽  
Huanlong Chen ◽  
Liangliang Han ◽  
Hongliu Yu
Keyword(s):  
Real Time ◽  
Contact Force ◽  
Control Algorithm ◽  
Control Method ◽  
Impedance Control ◽  
Space Station ◽  
Gravity Compensation ◽  
Compliance Control ◽  
Experiment Platform ◽  
Dual Arm

The space station manipulator does lots of tasks with contact force/torque on orbit. To ensure the safety of the space station and the manipulator, the contact force/torque of manipulator must be controlled. Based on analyzing typical tasks’ working flows and force control requirements, such as ORU (orbit replacement unit) changeout and dual arm collaborative payload transport, an impedance control method based on wrist 6 axis force/torque feedback is designed. For engineering implementation of the impedance control algorithm, the discretization method and impedance control parameters selection principle are also studied. To verify the compliance control algorithm, a ground experiment platform adopting industrial manipulators is developed. In order to eliminate the influence of gravity, a real-time gravity compensation algorithm is proposed. Then, the correctness of real-time gravity compensation and force compliance control algorithm is verified on the experiment platform. Finally, the ORU replacement and dual arm collaborative payload transport experiments are done. Experimental results show that the force compliance control method proposed in this paper can control the contact force and torque at the end of the manipulator when executing typical tasks.

Control of a Robotic Prosthetic Hand Using an EMG Signal Based Counter

2018 ◽  
Author(s):  
Kyle Stanek ◽  
Nathan Barnhart ◽  
Yong Zhu
Keyword(s):  
Control Algorithm ◽  
Prosthetic Hand ◽  
Finger Movement ◽  
Robotic Hand ◽  
Proportional Control ◽  
Biological Signal ◽  
Emg Signal ◽  
Primary Function ◽  
Skin Electrodes ◽  
Arduino Uno

This research is intended to create a prototype to generate controllable finger movement of a robotic prosthetic hand using Electromyography (EMG) signals. The instrumentation used in this project includes a Bitalino bio-signal sensor kit, skin electrodes, Arduino Uno microcontroller and a prosthetic hand. The Bitalino’s primary function is to serve as a means to obtain the EMG signal. The Arduino Uno’s function is to implement the control algorithm and actuate the robotic hand to move as intended. Using an EMG signal based counter, the method of control deemed fairly reliable since there was proportional control over the hand but it was based on the duration of the muscle in tension rather than how tense the muscle was. The overall control of the hand was generally responsive to the biological signal.

scholarly journals A Submillimeter Continuous Variable Stiffness Catheter for Compliance Control

2021 ◽  
pp. 2101290
Author(s):  
Jonas Lussi ◽  
Michael Mattmann ◽  
Semih Sevim ◽  
Fabian Grigis ◽  
Carmela De Marco ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Continuous Variable ◽  
Compliance Control

Design of a neurofuzzy algorithm-based shared controller for telerobot systems

Robotica ◽  
1997 ◽  
Vol 15 (1) ◽  
pp. 11-22 ◽  
Author(s):  
D. H. Cha ◽  
H. S. Cho
Keyword(s):  
Fuzzy Logic ◽  
Design Method ◽  
A Priori ◽  
Compliance Control ◽  
Control Scheme ◽  
On Line ◽  
Series Of Experiments ◽  
Force Reflection ◽  
The Stability ◽  
Novel Design

This paper proposes a novel design method of a shared controller for telerobot systems. A shared controller can enlarge a reflected force by combining force reflection and compliance control. However, the maximum boundary of the force reflection gain guaranteeing the stability greatly depends upon characteristics of the elements in the system such as; a master arm which is combined with the human operator's hand, the environments where the slave arm contacts and the compliance controller. In normal practice, it is therefore, very difficult to determine such a maximum boundary of the gain. To overcome this difficulty, the paper proposes a force reflection gain-selecting algorithm based on neural network and fuzzy logic features. The method estimates characteristic of the master arm and the environments by using neural networks, and then, determines the force reflection gain from the estimated characteristics by using fuzzy logic. The algorithm can work in an on-line manner, and can be easily applied to any telerobot system because it requires no a priori knowledge on the system. The effectiveness of the proposed control scheme is verified through a series of experiments using a laboratory-made telerobot system.

scholarly journals Prediction of Muscle Activity by Populations of Sequentially Recorded Primary Motor Cortex Neurons

2003 ◽  
Vol 89 (4) ◽  
pp. 2279-2288 ◽  
Author(s):  
M. M. Morrow ◽  
L. E. Miller
Keyword(s):  
Motor Cortex ◽  
Time Course ◽  
Primary Motor Cortex ◽  
Precision Grip ◽  
Coefficient Of Determination ◽  
Emg Activity ◽  
Power Grip ◽  
Emg Signal ◽  
Regression Parameters

We have adopted an analysis that produces a post hoc prediction of the time course of electromyogram (EMG) activity from the discharge of ensembles of neurons recorded sequentially from the primary motor cortex (M1) of a monkey. Over several recording sessions, we collected data from 50 M1 neurons and several distal forelimb muscles during a stereotyped precision grip task. Ensemble averages were constructed from 5 to 10 trials for each neuron and EMG signal. We used multiple linear regression on randomly chosen subsets of these neurons to find the best fit between the neuronal and EMG data. The fixed delay between neuronal and EMG signals that yielded the largest coefficient of determination ( R 2) between predicted and actual EMG was 50 ms. R 2 averaged 0.83 for ensembles composed of 15 neurons. If, instead, each neuronal signal was delayed by the time of its peak cross-correlation with the EMG signal, R 2 increased to 0.88. Using all 50 neurons, R 2 under these conditions averaged nearly 0.97. A similar analysis was conducted with signals recorded during both a power grip and a precision grip task. Quality of the fit dropped dramatically when parameters from the precision grip for a given set of neurons were used to fit data recorded during the power grip. However, when a single set of regression parameters was used to fit a combination of the two tasks, the quality of the fits decreased by <10% from that of a single task.

scholarly journals Human Muscle Synergy Analysis to Approach the Understanding of Brain Control Algorithm

2021 ◽  
Author(s):  
Fereidoun Nowshiravan Rahatabad ◽  
Parisa Rangraz
Keyword(s):  
Control Algorithm ◽  
Functional Unit ◽  
Recurrence Plot ◽  
Human Muscle ◽  
Muscle Synergy ◽  
Hand Movements ◽  
Muscle Synergies ◽  
Emg Signal ◽  
Random Motions ◽  
Non Negative Matrix Factorization

Purpose: Muscle synergy is a functional unit that coordinates the activity of a number of muscles. In this study, the extraction of muscle synergies in three types of hand movements in the horizontal plane is investigated. Materials and Methods: So, after constructing the tracking pattern of three signals, by LabVIEW, the Electromyography (EMG) signal from six muscles of hand was recorded. Then time-constant muscle synergies and their activity curves from the recorded EMG signals were extracted using Non-negative Matrix Factorization (NMF) method. Results: Comparison of these patterns showed that the non-random motions’ synergies were more similar than the random motions among different individuals. It was observed that in all movements, the similarity of the synergies in one cluster was greater than the similarity of their corresponding activation curves. Conclusion: The results showed that the complexity of the recurrence plot in random movement is greater than that of the other movements.

126 Grasp Control Using Compliance Control with Variable Stiffness Matrix

2003 ◽  
Vol 2003 (0) ◽  
pp. _126-1_-_126-5_
Author(s):  
Nobutaka TSUJIUCHI ◽  
Takayuki KOIZUMI ◽  
Hirofumi UEYAMA ◽  
Ryuichi YOKOKAWA
Keyword(s):  
Stiffness Matrix ◽  
Variable Stiffness ◽  
Compliance Control

scholarly journals Dynamic Modeling and Control of Antagonistic Variable Stiffness Joint Actuator

Actuators ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 116
Author(s):  
Ming Zhang ◽  
Pengfei Ma ◽  
Feng Sun ◽  
Xingwei Sun ◽  
Fangchao Xu ◽  
...  
Keyword(s):  
Dynamic Modeling ◽  
Position Control ◽  
Jacobian Matrix ◽  
Control Method ◽  
Variable Stiffness ◽  
Compliance Control ◽  
Decoupling Method ◽  
Modeling And Control ◽  
And Control ◽  
Variable Stiffness Actuators

This study aims to develop a novel decoupling method for the independent control of the position and stiffness of a variable stiffness joint actuator (VSJA), which has been proven to be able to vary its stiffness in a larger range than other variable stiffness actuators. Using static analysis and the Jacobian matrix, we obtained the model of the stiffness of the robot joint actuator and dynamics. Based on the hybrid dynamic model of position and stiffness, it is possible to compensate for the torque of the variable stiffness joint actuator (VSJA) to enhance position control. Finally, after describing the actuator prototype, the established compliance control method is verified using simulation and experimental analysis.

Sign in / Sign up

Export Citation Format

Share Document