A Discrete‐Time Algorithm for Stiffness Extraction from sEMG and Its Application in Antidisturbance Teleoperation

摘要

We have developed a new discrete‐time algorithm of stiffness extraction from muscle surface electromyography (sEMG) collected from human operator’s arms and have applied it for antidisturbance control in robot teleoperation. The variation of arm stiffness is estimated from sEMG signals and transferred to a telerobot under variable impedance control to imitate human motor control behaviours, particularly for disturbance attenuation. In comparison to the estimation of stiffness from sEMG, the proposed algorithm is able to reduce the nonlinear residual error effect and to enhance robustness and to simplify stiffness calibration. In order to extract a smoothing stiffness enveloping from sEMG signals, two enveloping methods are employed in this paper, namely, fast linear enveloping based on low pass filtering and moving average and amplitude monocomponent and frequency modulating (AM‐FM) method. Both methods have been incorporated into the proposed stiffness variance estimation algorithm and are extensively tested. The test results show that stiffness variation extraction based on the two methods is sensitive and robust to attenuation disturbance. It could potentially be applied for teleoperation in the presence of hazardous surroundings or human robot physical cooperation scenarios.