Back to the Cartesian: Pilot Study for Assessing Human Stiffness in 3D Cartesian Space by Transforming from Muscle Space in a Peg-In-Hole Scenario for Tele-Impedance

Thürauf S, Mehrkens F, Castellini C, Sierotowicz M (2025)

Publication Type: Conference contribution

Publication year: 2025

Journal

Proceedings - IEEE International Conference on Robotics and Automation Institute of Electrical and Electronics Engineers

Publisher: Institute of Electrical and Electronics Engineers Inc.

Pages Range: 5906-5913

Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation

Event location: Atlanta, GA

ISBN: 9798331541392

DOI: 10.1109/ICRA55743.2025.11127778

Abstract

For various teleoperation tasks, position-based control is not practical. An impedance-based control is superior e.g. for handling fragile objects, like harvesting fruits or grasping a paper cup. However, only a few researchers have focused on impedance control for teleoperation. In tele-impedance, the stiffness of a human is measured and transferred to a controller of a robot. Until now, human stiffness was mostly measured either for specific joints or in 2D Cartesian space. We introduce a new way of measuring Cartesian stiffness in 3D using electromyography. Users were asked to perform a peg-in-hole task in three different orientations (0°, 45°, 90°). Meanwhile, electromyography measurements at shoulder and elbow muscle groups are performed. In a proof-of-concept study, we showed that the measured stiffness matrix in Cartesian space differed significantly across the three differently oriented peg-in-hole scenarios. This demonstrates that human stiffness could be predicted in 3D Cartesian space based on the type of task at hand.

Authors with CRIS profile

Sabine Thürauf Assistive Intelligent Robotics Lab Claudio Castellini Assistive Intelligent Robotics Lab Marek Sierotowicz Assistive Intelligent Robotics Lab

How to cite

APA:

Thürauf, S., Mehrkens, F., Castellini, C., & Sierotowicz, M. (2025). Back to the Cartesian: Pilot Study for Assessing Human Stiffness in 3D Cartesian Space by Transforming from Muscle Space in a Peg-In-Hole Scenario for Tele-Impedance. In Christian Ott, Henny Admoni, Sven Behnke, Stjepan Bogdan, Aude Bolopion, Youngjin Choi, Fanny Ficuciello, Nicholas Gans, Clement Gosselin, Kensuke Harada, Erdal Kayacan, H. Jin Kim, Stefan Leutenegger, Zhe Liu, Perla Maiolino, Lino Marques, Takamitsu Matsubara, Anastasia Mavromatti, Mark Minor, Jason O'Kane, Hae Won Park, Hae-Won Park, Ioannis Rekleitis, Federico Renda, Elisa Ricci, Laurel D. Riek, Lorenzo Sabattini, Shaojie Shen, Yu Sun, Pierre-Brice Wieber, Katsu Yamane, Jingjin Yu (Eds.), Proceedings - IEEE International Conference on Robotics and Automation (pp. 5906-5913). Atlanta, GA, US: Institute of Electrical and Electronics Engineers Inc..

MLA:

Thürauf, Sabine, et al. "Back to the Cartesian: Pilot Study for Assessing Human Stiffness in 3D Cartesian Space by Transforming from Muscle Space in a Peg-In-Hole Scenario for Tele-Impedance." Proceedings of the 2025 IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA Ed. Christian Ott, Henny Admoni, Sven Behnke, Stjepan Bogdan, Aude Bolopion, Youngjin Choi, Fanny Ficuciello, Nicholas Gans, Clement Gosselin, Kensuke Harada, Erdal Kayacan, H. Jin Kim, Stefan Leutenegger, Zhe Liu, Perla Maiolino, Lino Marques, Takamitsu Matsubara, Anastasia Mavromatti, Mark Minor, Jason O'Kane, Hae Won Park, Hae-Won Park, Ioannis Rekleitis, Federico Renda, Elisa Ricci, Laurel D. Riek, Lorenzo Sabattini, Shaojie Shen, Yu Sun, Pierre-Brice Wieber, Katsu Yamane, Jingjin Yu, Institute of Electrical and Electronics Engineers Inc., 2025. 5906-5913.

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