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Abstract：
The broad spread of cooperative robots into many application domains has resulted in a demand for intuitive and effective solutions for teleoperated control. A relevant role in teleoperation has been assumed by impedance controllers, that allow the increase of stability and accuracy during interaction. This paper aims to test a teleoperation method based on an impedance controller, namely tele-impedance control, that is usable in unstructured environments since it relies only on wearable sensors. The proposed solution maps the joint stiffness and position of the human user, computed through six EMG and two M-IMU sensors, into the remote system to be teleoperated. We developed a 2-DoFs virtual task involving virtual physical interactions to compare the performance of our solution with the one of a traditional position-based controller. The study has been conducted on five healthy participants, who experienced both controllers in two different sessions. The tele-impedance approach has proved to be less physically demanding and more intuitive than the position-based one. Experimental data also allow us to investigate the strategy employed by the volunteers in the case of remote interactions, while using the two controllers. Of note, even though with the position controller the variation of subject impedance has no effect on the virtual arm, participants still tend to regulate both impedance and position of their own arm.
摘要：
协作机器人在许多应用领域的广泛普及导致了对用于远程操作控制的直观有效解决方案的需求。阻抗控制器已经承担了远程操作中的相关角色，允许在交互过程中增加稳定性和准确性。本文旨在测试一种基于阻抗控制器的遥操作方法，即远程阻抗控制，这在非结构化环境中是可用的，因为它只依赖于可穿戴传感器。所提出的解决方案映射了人类用户的关节刚度和位置，通过六个EMG和两个M-IMU传感器计算，进入远程系统进行远程操作。我们开发了一个涉及虚拟物理交互的2-DoF虚拟任务，以将我们的解决方案的性能与传统的基于位置的控制器之一进行比较。这项研究是对五名健康的参与者进行的，在两个不同的会话中经历了两个控制器。事实证明，远距阻抗方法比基于位置的方法对物理要求更低，更直观。实验数据还使我们能够研究志愿者在远程互动的情况下采用的策略，同时使用两个控制器。值得注意的是，即使使用位置控制器，对象阻抗的变化对虚拟臂没有影响，参与者仍然倾向于调节自己手臂的阻抗和位置。
