EMG-Based Variable Impedance Control for Enhanced Haptic Feedback in Real-Time Material Recognition.

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics Pub Date : 2025-01-03 DOI:10.1109/TOH.2024.3524023

Elisa Iovene, Riccardo Monaco, Junling Fu, Francesco Costa, Giancarlo Ferrigno, Elena De Momi

{"title":"EMG-Based Variable Impedance Control for Enhanced Haptic Feedback in Real-Time Material Recognition.","authors":"Elisa Iovene, Riccardo Monaco, Junling Fu, Francesco Costa, Giancarlo Ferrigno, Elena De Momi","doi":"10.1109/TOH.2024.3524023","DOIUrl":null,"url":null,"abstract":"<p><p>Advancements in robotic systems hold significant promise for enhancing spinal interventions. Despite this potential, the integration of robotic platforms in spine surgeries remains limited to only a few procedures. This paper presents a variable impedance control scheme within a shared-control framework to enhance haptic feedback during spinal surgeries. The system allows surgeons to guide the robot while dynamically adjusting stiffness based on contact forces and human intent, using electromyography signals. This adaptive control offers real-time guidance during interactions with different materials, serving as a safety measure to safeguard delicate structures encountered during surgical maneuvers. The system comprises a 7-DoF robotic manipulator with a 6-axis force/torque sensor and an 8-channel EMG sensor. Technical validation and a user study assessed performance compared to constant parameter (CIC) and linear variable (LVIC) impedance control methods. Results showed reduced contact force ( vs CIC's and LVIC's ) and in-contact displacement ( vs CIC's and LVIC's ), when interacting with delicate materials, minimizing the risk to critical anatomical structures. Additionally, a user survey confirmed that the proposed system improved haptic perception and control while preventing undesired movements during interactions with various tissues and structures.</p>","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4000,"publicationDate":"2025-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Haptics","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1109/TOH.2024.3524023","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"COMPUTER SCIENCE, CYBERNETICS","Score":null,"Total":0}

引用次数: 0

Abstract

Advancements in robotic systems hold significant promise for enhancing spinal interventions. Despite this potential, the integration of robotic platforms in spine surgeries remains limited to only a few procedures. This paper presents a variable impedance control scheme within a shared-control framework to enhance haptic feedback during spinal surgeries. The system allows surgeons to guide the robot while dynamically adjusting stiffness based on contact forces and human intent, using electromyography signals. This adaptive control offers real-time guidance during interactions with different materials, serving as a safety measure to safeguard delicate structures encountered during surgical maneuvers. The system comprises a 7-DoF robotic manipulator with a 6-axis force/torque sensor and an 8-channel EMG sensor. Technical validation and a user study assessed performance compared to constant parameter (CIC) and linear variable (LVIC) impedance control methods. Results showed reduced contact force ( vs CIC's and LVIC's ) and in-contact displacement ( vs CIC's and LVIC's ), when interacting with delicate materials, minimizing the risk to critical anatomical structures. Additionally, a user survey confirmed that the proposed system improved haptic perception and control while preventing undesired movements during interactions with various tissues and structures.

查看原文本刊更多论文

求助全文

约1分钟内获得全文求助全文

来源期刊

IEEE Transactions on Haptics COMPUTER SCIENCE, CYBERNETICS-

CiteScore

5.90

自引率

13.80%

发文量

109

审稿时长

>12 weeks

期刊介绍： IEEE Transactions on Haptics (ToH) is a scholarly archival journal that addresses the science, technology, and applications associated with information acquisition and object manipulation through touch. Haptic interactions relevant to this journal include all aspects of manual exploration and manipulation of objects by humans, machines and interactions between the two, performed in real, virtual, teleoperated or networked environments. Research areas of relevance to this publication include, but are not limited to, the following topics: Human haptic and multi-sensory perception and action, Aspects of motor control that explicitly pertain to human haptics, Haptic interactions via passive or active tools and machines, Devices that sense, enable, or create haptic interactions locally or at a distance, Haptic rendering and its association with graphic and auditory rendering in virtual reality, Algorithms, controls, and dynamics of haptic devices, users, and interactions between the two, Human-machine performance and safety with haptic feedback, Haptics in the context of human-computer interactions, Systems and networks using haptic devices and interactions, including multi-modal feedback, Application of the above, for example in areas such as education, rehabilitation, medicine, computer-aided design, skills training, computer games, driver controls, simulation, and visualization.