A Muscle Teleoperation System of a Robotic Rollator Based on Bilateral Shared Control

IEEE Access

Wen Qi¹  Longbin Zhang²  Xuanyi Zhou³  Jilin He³  Xiaopeng Yu³  Dingping Chen³  Jiehao Li⁴ 

[1] Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy;KTH Mechanics, KTH Royal Institute of Technology, Stockholm, Sweden;State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, China;State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, China;

关键词: Muscle computer interface;    artificial potential field;    obstacle avoidance;   

DOI  :  10.1109/ACCESS.2020.3016841

来源: DOAJ

【 摘 要 】

The approach that achieves the teleoperation between human muscle signals and the mobile robot is increasingly applied to transfer human muscle stiffness to enhance robotic performance. In this paper, we develop a mobile rollator control system applying a muscle teleoperation interface and a shared control method to enhance the obstacle avoidance in an effective way. In order to control intuitively, haptic feedback is utilized in the teleoperation interface and is integrated with EMG stiffness to provide a large composition force. Then the composition force is implemented with an artificial potential field method to keep the robotic rollator away from the obstacle in advance. This algorithm is superior to the traditional APF algorithm regardless of the required time and trajectory length. The experimental results demonstrate the effectiveness of the proposed muscle teleoperation system.

【 授权许可】

Unknown