Robot Programming by Demonstration: Trajectory Learning Enhanced by sEMG-Based User Hand Stiffness Estimation

Trajectory learning is one of the key components of robot Programming by Demonstration approaches, which in many cases, especially in industrial practice, aim at defining complex manipulation patterns. In order to enhance these methods, which are generally based on a physical interaction between the...

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Bibliographic Details

Published in:	IEEE transactions on robotics Vol. 39; no. 4; pp. 3259 - 3278
Main Authors:	Biagiotti, Luigi, Meattini, Roberto, Chiaravalli, Davide, Palli, Gianluca, Melchiorri, Claudio
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.08.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Constrained smoothing B-splines Education human–robot interaction Learning Muscles Optimization Programming programming by demonstration (PbD) Robots Splines (mathematics) Stiffness surface electromyography (sEMG) signals Task analysis Trajectory Trajectory analysis
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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