REMODEL. WP3. User And System Interface. T3_4. Teaching By Demonstration Of Skills For New Assembly References And Tasks. Augmented Kinesthetic Teaching. v0

Meattini, Roberto ; Chiaravalli, Davide ; Palli, Gianluca ; Melchiorri, Claudio (2022) REMODEL. WP3. User And System Interface. T3_4. Teaching By Demonstration Of Skills For New Assembly References And Tasks. Augmented Kinesthetic Teaching. v0. University of Bologna. DOI 10.6092/unibo/amsacta/7033. [Dataset]
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Abstract

The datasets contain the data related to an augmented kinesthetic teaching system, which is based on surface electromyographic (sEMG) measurements from the operator forearm. Specifically, sEMG signals are used for minimal-training unsupervised estimation of forearm's muscles co-contraction level. In this way, also exploiting a vibrotactile bio-feedback, we evaluate the ability of operators in stiffening their hand - during kinesthetic teaching - in order to modulate the estimated level of muscle co-contraction to (i) match target levels and (ii) command the opening/closing of a gripper, i.e. in exploiting their sEMG signals for effective augmented robot kinesthetic teaching tasks. The data are related to the publication: R. Meattini, D. Chiaravalli, L. Biagiotti, G. Palli and C. Melchiorri, "Combining Unsupervised Muscle Co-Contraction Estimation With Bio-Feedback Allows Augmented Kinesthetic Teaching," in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 6180-6187, Oct. 2021, doi: 10.1109/LRA.2021.3092269.

Abstract
Document type
Dataset
Creators
CreatorsAffiliationORCID
Meattini, RobertoUniversity of Bologna0000-0003-0085-915X
Chiaravalli, DavideUniversity of Bologna0000-0002-7171-7629
Palli, GianlucaUniversity of Bologna0000-0001-9457-4643
Melchiorri, ClaudioUniversity of Bologna0000-0002-8475-6782
Subjects
DOI
Contributors
NameAffiliationORCIDType
Meattini, RobertoUniversity of Bologna0000-0003-0085-915XContact person
Deposit date
19 Oct 2022 12:33
Last modified
19 Oct 2022 12:33
Related identifier
Related identifier typeRelation typeCode
DOIthis upload is supplement tohttps://doi.org/10.1109/LRA.2021.3092269
Project name
REMODEL - Robotic tEchnologies for the Manipulation of cOmplex DeformablE Linear objects
Funding program
EC - H2020
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