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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Peidong Liang Chenguang Yang Zhijun Li Ruifeng Li |
| Copyright Year | 2015 |
| Description | Author affiliation: State Key Lab. of Robot. Syst., Harbin Inst. of Technol., Harbin, China (Peidong Liang) || Center for Robot. & Neural Syst., Plymouth Univ., Plymouth, UK (Chenguang Yang; Ruifeng Li) || Key Lab. of Autonomous Syst. & Network Control, South China Univ. of Technol., Guangzhou, China (Zhijun Li) |
| Abstract | Studies of human motor behaviors have shown that central neural system (CNS) is able to adapt force and impedance in order to optimally interact with interactive environment. Muscle activities regulated by CNS can be represented by surface electromyography (sEMG) measured by electrodes attached on the skin. Inspired by the idea that muscle impedance adaptation reflects motion skills, sEMG based human-robot skill transfer, in particular, the writing skill transfer has been developed based on impedance adaptation extracted from sEMG. Squaring and low-pass filtering based signal envelop extraction algorithm and as well as re-sampling method are employed to extract incremental smooth stiffness from sEMG signals which is then transferred to robot to mimic human motor behavior. The effect of the proposed sEMG based bio-control is evaluated by writing task in comparison with constant stiffness control. Results show that sEMG based human skill transfer has significant effectiveness for skills transfer between human and robot, and it has a great potential to be used in teleoperation. |
| Starting Page | 19 |
| Ending Page | 24 |
| File Size | 2711441 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781479987283 |
| e-ISBN | 9781479987306 |
| DOI | 10.1109/CYBER.2015.7287903 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-06-08 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Force Estimation Writing Muscles Impedance Joints Robots |
| Content Type | Text |
| Resource Type | Article |
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