Luo, Jing, Liu, Chao, Li, Yanan and Yang, Chenguang (2019) A framework of human impedance recognition. The 25th International Conference on Automation and Computing (ICAC'19), Lancaster, UK, 5 - 7 September, 2019. Published in: 2019 25th International Conference on Automation and Computing (ICAC). Institute of Electrical and Electronics Engineers ISBN 9781861376657

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Abstract

A framework for recognizing the human intention of human forearm is developed. For a cooperative task, friendly and safe interaction is a key issue when humans directly interaction with the robots. Therefore, estimating the dynamics and intention of the human hand are very meaningful in the human machine interaction. A human subject puts his hand on the force sensor when a haptic device sets force in the proposed framework, the measured force, the surface electromyographic signal and the motion of the hand are employed to estimate the parameters of human forearm's impedance. The performance and feasibility of developed framework are verified.

Item Type:	Conference Proceedings
Additional Information:	This work was partially supported by National Nature Science Foundation (NSFC) under Grants 61861136009 and 61811530281.
Keywords:	surface electromyographic signal (sEMG), human intention, physical human-robot interaction (pHRI), impedance parameters.
Schools and Departments:	School of Engineering and Informatics > Engineering and Design
Depositing User:	Lucy Arnold
Date Deposited:	07 Aug 2019 10:13
Last Modified:	01 Oct 2020 12:52
URI:	http://sro.sussex.ac.uk/id/eprint/85340

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