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Human-Robot Interaction and Demonstration Learning Mode Based on Electromyogram Signal and Variable Impedance Control
Joint Authors
Zhao, Jie
Fu, Le
Zhang, He
Wu, Rui
Peng, Tao
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-09-30
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
In this research, properties of variable admittance controller and variable impedance controller were simulated by MATLAB firstly, which reflected the good performance of these two controllers under trajectory tracking and physical interaction.
Secondly, a new mode of learning from demonstration (LfD) that conforms to human intuitive and has good interaction performances was developed by combining the electromyogram (EMG) signals and variable impedance (admittance) controller in dragging demonstration.
In this learning by demonstration mode, demonstrators not only can interact with manipulator intuitively, but also can transmit end-effector trajectories and impedance gain scheduling to the manipulator for learning.
A dragging demonstration experiment in 2D space was carried out with such learning mode.
Experimental results revealed that the designed human-robot interaction and demonstration mode is conducive to demonstrators to control interaction performance of manipulator directly, which improves accuracy and time efficiency of the demonstration task.
Moreover, the trajectory and impedance gain scheduling could be retained for the next learning process in the autonomous compliant operations of manipulator.
American Psychological Association (APA)
Wu, Rui& Zhang, He& Peng, Tao& Fu, Le& Zhao, Jie. 2018. Human-Robot Interaction and Demonstration Learning Mode Based on Electromyogram Signal and Variable Impedance Control. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1209428
Modern Language Association (MLA)
Wu, Rui…[et al.]. Human-Robot Interaction and Demonstration Learning Mode Based on Electromyogram Signal and Variable Impedance Control. Mathematical Problems in Engineering No. 2018 (2018), pp.1-11.
https://search.emarefa.net/detail/BIM-1209428
American Medical Association (AMA)
Wu, Rui& Zhang, He& Peng, Tao& Fu, Le& Zhao, Jie. Human-Robot Interaction and Demonstration Learning Mode Based on Electromyogram Signal and Variable Impedance Control. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1209428
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1209428