Journal
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 48, Issue 10, Pages 1759-1770Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2017.2694020
Keywords
Personalized control; surface electromyographic (sEMG); teleoperated robot system; tremor attenuation; variable gain control
Funding
- National Nature Science Foundation [61473120]
- Guangdong Provincial Natural Science Foundation [2014A030313266]
- Guangdong Provincial International Science and Technology Collaboration Grant [2015A050502017]
- Science and Technology Planning Project of Guangzhou [201607010006]
- State Key Laboratory of Robotics and System (HIT) [SKLRS-2017-KF-13]
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Teleoperated robot systems are able to support humans to accomplish their tasks in many applications. However, the performance of teleoperation largely depends on motor functionality and human operator's skill, especially when a human operator is short of skill training. In order to adapt to various unstructured environments for the robot system and the human operator, in this paper, a teleoperation scheme using integrated tremor attenuation with a variable gain control algorithm involving surface electromyogram is proposed to achieve personalized control performance and to reduce reliance on operator's skill. For attenuating tremor, a filter based on support vector machine is developed to guarantee normal operation. This filter depends on the machine learning scheme and does not rely on a priori filter parameters. Semiphysical experiments have been performed to demonstrate the effectiveness of the proposed methods.
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