抄録
In this paper, a variable impedance joystick for a novel robot operation interface is proposed. The joystick can change its mechanical impedance m real-time. The joystick is able to be applied as a haptic device for machine operation systems. In addition, by considering electromyography (EMG) of the operator, the joystick is expected to reduce the load of the manipulation. Therefore, modification technique for the joystick impedance by measuring EMG is described. The stiffness k of the joystick is modified to keep the EMG with reference. In this work, two operation modes are experimented. One is a position control mode, that is, the bar is controlled as a proportional of the joystick position. The other is an acceleration control mode for bar operation. Then, some experimental results show that the joystick can control operator's EMG with modifying the impedance Finally, we discuss the applications by proposed joystick systems.
