Tele-Impedance: Preliminary results on measuring and replicating human arm impedance in tele operated robots

摘要

This work introduces the concept of Tele-Impedance as a method for controlling/teleoperating a robotic arm in contact with the environment. Opposite to bilateral force-reflecting teleoperation control approach, which uses a position/velocity command combined with force feedback from the robot side, Tele-Impedance enriches the command sent to the slave robot by combining the position reference with a stiffness (or full impedance) reference. The desired stiffness profile is directly estimated from the arm of the human operating the remote robotic arm. We preliminarily investigate the effectiveness of this method while teleoperating a slave robotic arm to execute simple tasks. The KUKA light weight robotic arm is used as the slave manipulator. The endpoint (wrist) position of the human arm is monitored by an optical tracking system while the stiffness of the human arm is estimated from the electromyography (EMGs) signal measurements of four flexor-extensor muscle pairs, in realtime. The performance of Tele-Impedance control method is assessed by comparing the results obtained while executing a peg-in-hole task, with the slave arm under i) constant low stiffness, ii) constant high stiffness or iii) under Tele-Impedance control. The experimental results demonstrate the effectiveness of the Tele-Impedance control method and highlight its potential use to safely execute tasks with uncertain environment constraints which may result in large deviations from the commanded position trajectories.