A Regulable Linear Guidance Flexible Virtual Fixture Based on EMG in Teleoperation System

摘要

Current teleoperation robots still have problems such as insufficient safety and accuracy, and weak humanrobot interaction, which lead to their limited application in many aspects. Considering the operator’s manual control cannot guarantee performance of teleoperation in the task, this paper proposes a linear guidance flexible virtual fixture (LGFVF) method. The LGFVF can provide force feedback for the operator and guide the operator to complete the trajectory tracking task more accurately. Additionally, in order to improve the operator’s autonomy and decision-making ability in teleoperation control, this paper utilizes electromyography signals as a way to reflect the operator’s intention. By adjusting the muscle activity, the human operator can autonomously decide the auxiliary degree of the virtual fixture, so as to adapt to the changes of external environment and interference factors more flexibly. Finally, the effectiveness of the proposed scheme is verified by the teleoperation experiment with obstacles and artificial interference factors.