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.
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