Mobile Robot Control Based on Virtual Impedance Force Feedback

In this study, a tactile feedback method is proposed for virtual repulsive force based on non-contact impedance and applied to collision avoidance for a biological signal-controlled mobile robot. Virtual walls based on mechanical impedance are placed around the robot, it can avoid obstacles using virtual repulsive forces when obstacles meet the virtual walls. The proposed method provides tactile feedback about the force to the operator, which enables the operator to recognize the environment around the robot. In the experiments, a blindfolded participant controlled a mobile robot using myoelectric signals. The results demonstrated that the robot could be operated stably.