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
Tipologia del documento
Dataset
Autori
AutoreAffiliazioneORCID
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
Settori scientifico-disciplinari
DOI
Contributors
Contributor
Affiliazione
ORCID
Tipo
Meattini, Roberto
University of Bologna
Contact person
Data di deposito
19 Ott 2022 12:33
Ultima modifica
19 Ott 2022 12:33
Risorse collegate
Tipologia
Relazione
Identificativo
Nome del Progetto
REMODEL - Robotic tEchnologies for the Manipulation of cOmplex DeformablE Linear objects
Programma di finanziamento
EC - H2020
URI

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