Multi-directional impedance control with electromyography for compliant human-robot interaction

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Compliant human-robot interaction is necessary for the seamless integration of robotic devices into everyday life. Surface electromyography (sEMG) provides a potential interface for compliant control due to the natural relationship between muscle activity and joint stiffness. Previous works have used sEMG to predict and control impedance along a single degree-of-freedom (DOF). However, humans interacting in unstable environments tune both the magnitude and direction of their impedance. This paper proposes a framework for multi-directional impedance control with sEMG to enhance compliant interactions. The framework allows subjects to simultaneously control both the direction of motion and primary stiffness axis of a robot, enabling stable behavior with controlled compliance to external forces. The efficacy of the approach is shown in a five day experiment with a 3-DOF virtual environment. Subjects displayed significant performance enhancements consistent with motor skill learning as they learned to follow paths and stay at desired targets while compensating for external forces. The framework is also demonstrated with compliant simultaneous and proportional control of a robot arm, suggesting the approach as a natural interface for enhancing capabilities of compliant human-robot interaction.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Rehabilitation Robotics
PublisherIEEE Computer Society
Pages416-421
Number of pages6
Volume2015-September
ISBN (Print)9781479918072
DOIs
StatePublished - Sep 28 2015
Event14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015 - Singapore, Singapore
Duration: Aug 11 2015Aug 14 2015

Other

Other14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
CountrySingapore
CitySingapore
Period8/11/158/14/15

Fingerprint

Electromyography
Human robot interaction
Electric Impedance
Motor Skills
Robotics
Stiffness
Robots
Joints
Learning
Bioelectric potentials
Equipment and Supplies
Muscles
Virtual reality
Muscle
Direction compound
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Rehabilitation

Cite this

Ison, M., & Artemiadis, P. (2015). Multi-directional impedance control with electromyography for compliant human-robot interaction. In IEEE International Conference on Rehabilitation Robotics (Vol. 2015-September, pp. 416-421). [7281235] IEEE Computer Society. https://doi.org/10.1109/ICORR.2015.7281235

Multi-directional impedance control with electromyography for compliant human-robot interaction. / Ison, Mark; Artemiadis, Panagiotis.

IEEE International Conference on Rehabilitation Robotics. Vol. 2015-September IEEE Computer Society, 2015. p. 416-421 7281235.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ison, M & Artemiadis, P 2015, Multi-directional impedance control with electromyography for compliant human-robot interaction. in IEEE International Conference on Rehabilitation Robotics. vol. 2015-September, 7281235, IEEE Computer Society, pp. 416-421, 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015, Singapore, Singapore, 8/11/15. https://doi.org/10.1109/ICORR.2015.7281235
Ison M, Artemiadis P. Multi-directional impedance control with electromyography for compliant human-robot interaction. In IEEE International Conference on Rehabilitation Robotics. Vol. 2015-September. IEEE Computer Society. 2015. p. 416-421. 7281235 https://doi.org/10.1109/ICORR.2015.7281235
Ison, Mark ; Artemiadis, Panagiotis. / Multi-directional impedance control with electromyography for compliant human-robot interaction. IEEE International Conference on Rehabilitation Robotics. Vol. 2015-September IEEE Computer Society, 2015. pp. 416-421
@inproceedings{4c04090dc3864025a0d32fefaeb775ef,
title = "Multi-directional impedance control with electromyography for compliant human-robot interaction",
abstract = "Compliant human-robot interaction is necessary for the seamless integration of robotic devices into everyday life. Surface electromyography (sEMG) provides a potential interface for compliant control due to the natural relationship between muscle activity and joint stiffness. Previous works have used sEMG to predict and control impedance along a single degree-of-freedom (DOF). However, humans interacting in unstable environments tune both the magnitude and direction of their impedance. This paper proposes a framework for multi-directional impedance control with sEMG to enhance compliant interactions. The framework allows subjects to simultaneously control both the direction of motion and primary stiffness axis of a robot, enabling stable behavior with controlled compliance to external forces. The efficacy of the approach is shown in a five day experiment with a 3-DOF virtual environment. Subjects displayed significant performance enhancements consistent with motor skill learning as they learned to follow paths and stay at desired targets while compensating for external forces. The framework is also demonstrated with compliant simultaneous and proportional control of a robot arm, suggesting the approach as a natural interface for enhancing capabilities of compliant human-robot interaction.",
author = "Mark Ison and Panagiotis Artemiadis",
year = "2015",
month = "9",
day = "28",
doi = "10.1109/ICORR.2015.7281235",
language = "English (US)",
isbn = "9781479918072",
volume = "2015-September",
pages = "416--421",
booktitle = "IEEE International Conference on Rehabilitation Robotics",
publisher = "IEEE Computer Society",

}

TY - GEN

T1 - Multi-directional impedance control with electromyography for compliant human-robot interaction

AU - Ison, Mark

AU - Artemiadis, Panagiotis

PY - 2015/9/28

Y1 - 2015/9/28

N2 - Compliant human-robot interaction is necessary for the seamless integration of robotic devices into everyday life. Surface electromyography (sEMG) provides a potential interface for compliant control due to the natural relationship between muscle activity and joint stiffness. Previous works have used sEMG to predict and control impedance along a single degree-of-freedom (DOF). However, humans interacting in unstable environments tune both the magnitude and direction of their impedance. This paper proposes a framework for multi-directional impedance control with sEMG to enhance compliant interactions. The framework allows subjects to simultaneously control both the direction of motion and primary stiffness axis of a robot, enabling stable behavior with controlled compliance to external forces. The efficacy of the approach is shown in a five day experiment with a 3-DOF virtual environment. Subjects displayed significant performance enhancements consistent with motor skill learning as they learned to follow paths and stay at desired targets while compensating for external forces. The framework is also demonstrated with compliant simultaneous and proportional control of a robot arm, suggesting the approach as a natural interface for enhancing capabilities of compliant human-robot interaction.

AB - Compliant human-robot interaction is necessary for the seamless integration of robotic devices into everyday life. Surface electromyography (sEMG) provides a potential interface for compliant control due to the natural relationship between muscle activity and joint stiffness. Previous works have used sEMG to predict and control impedance along a single degree-of-freedom (DOF). However, humans interacting in unstable environments tune both the magnitude and direction of their impedance. This paper proposes a framework for multi-directional impedance control with sEMG to enhance compliant interactions. The framework allows subjects to simultaneously control both the direction of motion and primary stiffness axis of a robot, enabling stable behavior with controlled compliance to external forces. The efficacy of the approach is shown in a five day experiment with a 3-DOF virtual environment. Subjects displayed significant performance enhancements consistent with motor skill learning as they learned to follow paths and stay at desired targets while compensating for external forces. The framework is also demonstrated with compliant simultaneous and proportional control of a robot arm, suggesting the approach as a natural interface for enhancing capabilities of compliant human-robot interaction.

UR - http://www.scopus.com/inward/record.url?scp=84946076128&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84946076128&partnerID=8YFLogxK

U2 - 10.1109/ICORR.2015.7281235

DO - 10.1109/ICORR.2015.7281235

M3 - Conference contribution

AN - SCOPUS:84946076128

SN - 9781479918072

VL - 2015-September

SP - 416

EP - 421

BT - IEEE International Conference on Rehabilitation Robotics

PB - IEEE Computer Society

ER -