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Simultaneously encoding movement and sEMG-based stiffness for robotic skill learning
journal contribution
posted on 2023-06-09, 21:00 authored by Chao Zeng, Chenguang Yang, Hong Cheng, Yanan LiYanan Li, Shi-Lu DaiTransferring human stiffness regulation strategies to robots enables them to effectively and efficiently acquire adaptive impedance control policies to deal with uncertainties during the accomplishment of physical contact tasks in an unstructured environment. In this work, we develop such a physical human-robot interaction (pHRI) system which allows robots to learn variable impedance skills from human demonstrations. Specifically, the biological signals, i.e., surface electromyography (sEMG) are utilized for the extraction of human arm stiffness features during the task demonstration. The estimated human arm stiffness is then mapped into a robot impedance controller. The dynamics of both movement and stiffness are simultaneously modeled by using a model combining the hidden semi-Markov model (HSMM) and the Gaussian mixture regression (GMR). More importantly, the correlation between the movement information and the stiffness information is encoded in a systematic manner. This approach enables capturing uncertainties over time and space and allows the robot to satisfy both position and stiffness requirements in a task with modulation of the impedance controller. The experimental study validated the proposed approach.
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Publication status
- Published
File Version
- Accepted version
Journal
IEEE Transactions on Industrial InformaticsISSN
1551-3203Publisher
IEEEExternal DOI
Issue
2Volume
17Page range
1244-1252Department affiliated with
- Engineering and Design Publications
Notes
© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2020-04-01First Open Access (FOA) Date
2020-04-01First Compliant Deposit (FCD) Date
2020-03-31Usage metrics
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