Controlling Robot Gripper Force By Transferring Human Forearm Stiffness Using Force Myography

This paper presents an approach for human-robot cooperation by transferring human forearm stiffness to the robot. The essential element of the proposed approach is Force Myography (FMG) of the forearm muscles that provides the robot with the human arm stiffness while picking up a part. Through this framework, the robot controller can adapt its gripper force to imitate human behavior facing different parts in weights and sizes during the cooperation. The proposed method is evaluated experimentally in picking-up and moving the pieces tasks that are common activities in industries. The results demonstrate that the robot can control its arm gripper force facing different parts with the error less than 2%, that depicts the effectiveness of the proposed method.

[1]  Brian Scassellati,et al.  Transparent role assignment and task allocation in human robot collaboration , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[2]  Peternel Luka,et al.  Towards multi-modal intention interfaces for human-robot co-manipulation , 2016 .

[3]  Antonio Bicchi,et al.  Development of a robotic teaching interface for human to human skill transfer , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[4]  Clément Gosselin,et al.  General Model of Human-Robot Cooperation Using a Novel Velocity Based Variable Impedance Control , 2007, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07).

[5]  Don Joven Agravante,et al.  Collaborative human-humanoid carrying using vision and haptic sensing , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[6]  Carlo Menon,et al.  Continuous Prediction of Finger Movements Using Force Myography , 2016 .

[7]  Paul Evrard,et al.  Teaching physical collaborative tasks: object-lifting case study with a humanoid , 2009, 2009 9th IEEE-RAS International Conference on Humanoid Robots.

[8]  Arash Ajoudani,et al.  Transferring Human Impedance Regulation Skills to Robots , 2015, Springer Tracts in Advanced Robotics.

[9]  Tadej Petric,et al.  Human-in-the-loop approach for teaching robot assembly tasks using impedance control interface , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[10]  Carlo Menon,et al.  Towards the development of a wearable feedback system for monitoring the activities of the upper-extremities , 2014, Journal of NeuroEngineering and Rehabilitation.

[11]  Andrea Maria Zanchettin,et al.  Safety Assessment and Control of Robotic Manipulators Using Danger Field , 2013, IEEE Transactions on Robotics.

[12]  Jae-Bok Song,et al.  Collision Detection Algorithm to Distinguish Between Intended Contact and Unexpected Collision , 2012, Adv. Robotics.

[13]  Mehrdad Saif,et al.  Hand gesture recognition using force myography of the forearm activities and optimized features , 2018, 2018 IEEE International Conference on Industrial Technology (ICIT).