Myoelectric control of actuators
AssigneeHer Majesty the Queen in right of Canada, as represented by the Minister of National Defence
InventorsJuliusz J. Grodski, Guy B. Immega, Peter D. Lawrence
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Abstract
It is the purpose of this invention to provide a method and apparatus for a compliance control in each degree of freedom of a robotic system independently of other control parameters. This independent compliance control capability allows dexterous assembly operations to be done without elaborate fixture of a work piece. The method of controlling compliance and position of an actuator comprises the steps of acquiring a raw Myoelectric signal from the muscles of a teleoperator, processing the raw Myoelectric signal into compliance control and position control signals and applying the control signal to an actuator(s) of the teleoperated robotic system.
Claims7
A method of controlling compliance of a teleoperated robotic system, said method comprising the steps of:
- acquiring raw myoelectric signals from the muscles of a telecoperator;
- processing said electric signals into first and second compliance control signals;
- and
- applying said first and second compliance control signals to first and second actuators respectively each of which provides a joint of said robotic system with a force signal relative to said compliance control signal.
A compliance control system for a teleoperated robotic system, comprising:
- electrodes means for acquiring a myoelectric signal from a teleoperator;
- first and second signal processing means for processing said myoelectric signals received from said electrodes means into compliance control signals;
- and
- first and second servovalves having an input from said first and second signal processing means respectively for controlling fluid flow supplied to first and second actuators respectively;
- said actuators having an output relative to said fluid flow supplied by said first and second servovalves.
Dependencies are inferred from the claim text.