Tactile and sEMG Based Gripper Teleoperation with Random Time Delay
ZHANG Huatao1,2, WU Changcheng3, XIONG Pengwen4,5, SONG Aiguo5
1. Nanjing Institute of Astronomical Optics & Technology, National Astronomical Observatories, Chinese Academy of Sciences, Nanjing 210042, China;
2. Key Laboratory of Astronomical Optics & Technology, Chinese Academy of Sciences, Nanjing 210042, China;
3. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;
4. School of Information Engineering, Nanchang University, Nanchang 330031, China;
5. School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
Abstract:A grip force control method for gripper teleoperation system based on tactile and sEMG (surface electromyography) is presented. A non-time-based teleoperation method is employed in the control process in order to eliminate the impacts on the system stability caused by the random time delay. And the sEMG signal is introduced in the control signal to improve the control experience for operators. Besides, the support vector regression model based on particle swarm optimization and the fuzzy logic controller are also utilized. The experimental result turns out that the estimation error of the operators' strength is about 8.45%, the average tracking error is about 0.6N, and operators can adjust the grip force more stably and effectively by using this method.
[1] Qian K, Song A G, Bao J T, et al. Small teleoperated robot for nuclear radiation and chemical leak detection[J]. International Journal of Advanced Robotic Systems, 2012, 9. DOI:10.5772/50720.
[2] Biagiotti L, Melchiorri C, Vassura G. Position/force control of an arm/gripper system for space manipulation[C]//IEEE/ASME International Conference on Advanced Intelligent Mechatro-nics. Piscataway, USA:IEEE, 2011:1175-1180.
[3] Soliman A M, Zaki A M, El-Shafei A M, et al. A robotic gripper based on advanced system set-up and fuzzy control algorithm[C]//IEEE International Conference on Automation and Logistics. Piscataway, USA:IEEE, 2009:1-6.
[4] Abi-Farraj F, Pedemonte N, Giordano P R, et al. A visual-based shared control architecture for remote telemanipulation[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2016:4266-4273.
[5] Durbha V, Li P Y. Passive bilateral tele-operation and human power amplification with pneumatic actuators[C]//ASME 2009 Dynamic Systems and Control Conference. New York, USA:ASME, 2009:863-870.
[6] Carey M W, Kurz E M, Matte J D, et al. Novel EOD robot design with dexterous gripper and intuitive teleoperation[C]//World Automation Congress. Piscataway, USA:IEEE, 2012:6pp.
[7] Pierce R M, Fedalei E A, Kuchenbecker K J. A wearable device for controlling a robot gripper with fingertip contact, pressure, vibrotactile, and grip force feedback[C]//IEEE Haptics Symposium. Piscataway, USA:IEEE, 2014:19-25.
[8] 章华涛,吴常铖,郭晏,等.带触觉的肌电假手握力模糊控制方法[J].仪器仪表学报,2013,34(7):1559-1565.Zhang H T, Wu C C, Guo Y, et al. Fuzzy logic based grip force control method for myoelectric prosthesis with tactile feedback[J]. Chinese Journal of Scientific Instrument, 2013, 34(7):1559-1565.
[9] Eskes M, Balm A J M, van Alphen M J A, et al. sEMG-assisted inverse modelling of 3D lip movement:A feasibility study towards person-specific modelling[J]. Scientific Reports, 2017, 7. DOI:10.1038/s41598-017-17790-4.
[10] Karthick P A, Ghosh D M, Ramakrishnan S. Surface electromyography based muscle fatigue detection using high-resolution time-frequency methods and machine learning algorithms[J]. Computer Methods and Programs in Biomedicine, 2018, 154(1):45-56.
[11] 张启忠,席旭刚,马玉良,等.基于肌电信号的遥操作机器人控制技术[J].应用基础与工程科学学报,2013,21(6):1199-1209.Zhang Q Z, Xi X G, Ma Y L, et al. A control scheme based on EMG for teleoperation robot system[J]. Journal of Basic Science and Engineering, 2013, 21(6):1199-1209.
[12] Smola A J, Scholkopf B. A tutorial on support vector regression[J]. Statistics and Computing, 2004, 14(3):199-222.
[13] Xi N. Event-based motion planning and control for robotic systems[D]. St. Louis, USA:Washington University, 1993.
[14] Wang M, Liu J N K. Interactive control for Internet-based mobile robot teleoperation[J]. Robotics and Autonomous Systems, 2005, 52(2/3):160-179.
[15] Jia Y, Xi N, Buether J. Design of single-operator-multi-robot teleoperation systems with random communication delay[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2011:171-176.