Article

Human-Robot Variable Impedance Skill Transfer Learning Based on Dynamic Movement Primitives and Vision System

2025-07-02

Abstract excerpt

To enhance robotic adaptability in dynamic environments, this study proposes a multimodal framework for skill transfer. The framework integrates vision-based kinesthetic teaching with surface electromyography (sEMG) signals to estimate human impedance. We establish a Cartesian-space model of upper-limb stiffness, linearly mapping sEMG signals to endpoint stiffness. For flexible task execution, dynamic movement pri...

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Literature Corpus work: 18e6392b-cea4-571f-8a21-80a908dfba21
DOI: 10.20944/preprints202507.0153.v1

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