Tele-Impedance based teleoperation: Peg-in-hole experimental results

The movie presented here experimentally investigates the effectiveness of Tele Impedance method while teleoperating a slave robotic arm to execute predefined task. The KUKA light weight robotic arm is used as the slave manipulator. The end point (wrist) position of the human arm is monitored by an optical tracking system while the stiffness of the human arm is estimated from the electromyography (EMGs) signal measurements of four flexor-extensor muscle pairs, in real-time. The performance of Tele-Impedance control method is assessed by comparing the results obtained while executing a peg-in-hole task, with the slave arm under i) constant low stiffness, ii) constant high stiffness or iii) under Tele-Impedance control for Peg in Hole and Sponge tasks.