Chapter Four: User experience-enhanced teleoperation control
Abstract
In this chapter, several new types of EMG signal-based variable stiffness control based on tremor suppression and VF human–robot interactive control are proposed for a teleoperation robot system. Focusing on the characteristics of the tremor signal, a linear learning weight function is designed. In the process of tremor filtering, the SVM filter can effectively use small samples to filter the tremor, and the variable stiffness control can achieve personalized control according to muscle activity. The combination of tremor filtering and personalized control methods can improve the control performance of remote operation. In addition, combined with the hybrid control of variable ...
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