@inproceedings{f3e873cecc75403a85ef88c58d7ee932,
title = "Enhancing Human-to-Robot Skill Transfer: A Framework Integrating Movement and Variable Impedance Based on EMG",
abstract = "Skill transfer and impedance control is gaining increasing prominence as a solution to interactive tasks which are challenged through pre-programming. In this paper, a framework for skill transfer that integrates both trajectory and variable impedance skill transfer is proposed. Firstly, EMG signals are retrieved from the human operator while demonstrating the task via teleoperation. A method is introduced to establish the relationship between the human operator's arm stiffness and the robot's stiffness for both contact and non-contact tasks. Then, the dynamic movement primitives are employed to simultaneously encode the trajectories and stiffness profiles. Finally, the skill transfer method proposed in this paper is validate through simulation experiment with a UR5 robot.",
keywords = "dynamic movement primitives, skill transfer, teleoperation",
author = "Linjie Li and Haitao Chang and Yongjia Xu and Shuo Zhao and Panfeng Huang and Zhengxiong Liu",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 25th IEEE International Conference on Industrial Technology, ICIT 2024 ; Conference date: 25-03-2024 Through 27-03-2024",
year = "2024",
doi = "10.1109/ICIT58233.2024.10540992",
language = "英语",
series = "Proceedings of the IEEE International Conference on Industrial Technology",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "ICIT 2024 - 2024 25th International Conference on Industrial Technology",
}