Nowadays, novel types of robotic systems are able to adjust their mechanical impedance, especially stiffness, be it actively controlled or an intrinsic elastic behavior. Thus, similar to the human these robots are able to interact in an uncertain environment and change their compliance with respect to whatever is required by the task. In teleoperation, the electro-mechanical system which energetically connects an operator to a remote environment is often designed to be analogous to a light and rigid bar. If this is achieved, the force feedback is often regarded to be more faithful. However, the ability of impedance adaptability isn’t used here.
In a recent work we have shown the benefits from an approach with force feedback that is able to additionally command human stiffness in 1 DoF using sEMG. Furthermore, we developed a method to measure arm stiffness in 2 DoF using the light weight robot (see upper figure); having planar arm stiffness calibrated to sEMG we verified the teleimpedance approach in a first show case. However, we didn’t use the possibility of force-feedback, which is known to be crucial in teleoperation. Thus, the goal of this work is to extend the prior works towards a multi-dimensional approach with force-feedback using the DLR HUG (see the figure below). New types of wearable devices, such as the Myo gesture control armband by Thalmic Labs, shall be used for measuring electromyographic activity.
The internship/ Master Thesis will be structured as follows:
Look forward to a fulfilling job with an employer who appreciates your commitment and supports your personal and professional development. Our unique infrastructure offers you a working environment in which you have unparalled scope to develop your creative ideas and accomplish your professional objectives. The duration of the diploma or master thesis, is set for 6 months.
If you have any questions concerning specific aspects of the job, please contact Mr. Hannes Höppner by calling +49 8153 28-1062. If you think this will be a nice challenge for your internship/ thesis we look forward to your application only to Hannes.Hoeppner@dlr.de .