University of Twente Student Theses


Intuitive Impedance Modulation in Haptic Control using Electromyography

Teeffelen, K.J. van (2018) Intuitive Impedance Modulation in Haptic Control using Electromyography.

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Abstract:This research focusses on using Electromyography (EMG) to relate the state of the operator’s arm to the haptic control of a robotic arm. An impedance controller connects a haptic device (Force Dimension omega.7) on the operator’s side to a robotic arm (KUKA LWR4+) located in the remote environment, creating a virtual connection between the two devices that can be interpreted as a virtual spring. The ideal stiffness level of this spring depends on the conducted task and its conditions, including any communication delays. The created design relates this stiffness level to the muscle activation levels of the operator by using live EMG recordings, resulting in a compliance of the virtual connection that is related to the compliance of the operator’s arm. The EMG data is gathered by using a Myo Gesture Control Armband. The stability of the system is guaranteed through an energy monitoring approach. After realising the design, the effectiveness and intuitiveness of this variable impedance controller were studied by assessing the positioning accuracy, interaction control forces and time delayed behaviour during task execution experiments with multiple test subjects.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:52 mechanical engineering, 53 electrotechnology, 54 computer science
Programme:Systems and Control MSc (60359)
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