Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.


    Access

    Download


    Export, share and cite



    Title :

    On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators



    Publication date :

    2017-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    A generic controller for teleoperation on robotic manipulators using low-cost devices

    Łukawski, Bartek / Victores, Juan G. / Balaguer, Carlos | TIBKAT | 2023


    Nonlinear Effects in Stiffness Modeling of Robotic Manipulators

    A. Pashkevich / A. Klimchik / D. Chablat | BASE | 2009

    Free access

    Variable Stiffness Links VSL - Toward Inherently Safe Robotic Manipulators

    Stilli, A / Grattarola, L / Feldmann, H et al. | BASE | 2017

    Free access

    The Robonator: Robotic Teleoperation

    Steneryd, Adrian / Khorshid, Yad | BASE | 2022

    Free access

    Wireless teleoperation of robotic arms

    Filippi, Hannes | BASE | 2007

    Free access