Variable impedance actuators (VIAs) as tool devices for teleoperation could extend the range of tasks that humans can perform through a teleoperated robot by mimicking the change of upper limb stiffness that humans perform for different tasks, increasing the dynamic range of the robot. This requires appropriate impedance control. Goal of this study is to show the effectiveness of a controller that does not require additional sensors, reducing system complexity and increasing ease of use. The controller should allow to perform precise positioning tasks and dynamic tasks like hammering through teleoperation with a VIA tool device automatically adapting the impedance setting of the VIA. This is achieved by a control law according to the principle "slow-stiff/fast-soft". The controller was tested in a human user study with 24 participants comparing the human-machine performance with the self-adapting controller in a bilateral telemanipulation experiment with two tasks (precision/dynamic) using three impedance settings (high/low/adaptive impedance). The results indicate that the proposed system performs equally well as state of the art stiff teleoperation devices for precision tasks, while having benefits in terms of increased safety and reduced wear for dynamic tasks. This is a step towards teleoperation with a wide dynamic range.

中文翻译：

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用于精密和动态任务的自适应可变阻抗执行器控制

可变阻抗执行器 (VIA) 作为远程操作的工具设备可以通过模仿人类执行不同任务的上肢刚度的变化来扩展人类通过远程操作机器人可以执行的任务范围，增加机器人的动态范围。这需要适当的阻抗控制。本研究的目标是展示不需要额外传感器的控制器的有效性，从而降低系统复杂性并提高易用性。控制器应允许执行精确定位任务和动态任务，例如通过远程操作与 VIA 工具设备自动调整 VIA 的阻抗设置进行锤击。这是通过根据“慢-硬/快-软”原理的控制律来实现的。该控制器在一项人类用户研究中进行了测试，有 24 名参与者使用三种阻抗设置（高/低/自适应阻抗）在双边远程操作实验中比较了人机性能与自适应控制器的两个任务（精确/动态）。结果表明，所提出的系统在执行精确任务时与最先进的刚性遥操作设备同样出色，同时在提高安全性和减少动态任务的磨损方面具有优势。这是朝着具有宽动态范围的远程操作迈出的一步。结果表明，所提出的系统在执行精确任务时与最先进的刚性遥操作设备同样出色，同时在提高安全性和减少动态任务的磨损方面具有优势。这是朝着具有宽动态范围的远程操作迈出的一步。结果表明，所提出的系统在执行精确任务时与最先进的刚性遥操作设备同样出色，同时在提高安全性和减少动态任务的磨损方面具有优势。这是朝着具有宽动态范围的远程操作迈出的一步。