qbmove Teleimpedance control
The purpose of this project is to assemble a qbmove torso and operate this structure using the human body.
The human arms's positions are detected with a PrimeSense 3D sensor camera.
The muscular contractions are measured using electromyographic sensors and the electrical level is converted into a stiffness value using a PsoC 5 LP board. The muscular signals are used to set the qbmove stiffness value.
The PrimeSense and the PsoC 5 LP output signals are routed to a pc running a Simulink simulation which controls all the qbmoves.
Two tasks are followed: a Peg in Hole task and a Handover task. The muscular contractions measurements are also used for opening and closing two SoftHands used for object grasping.