top of page

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.


Tommaso Pardi

Alessandro Raugi

Lorenzo Tortorella



Centro E. Piaggio



Software Libraries

License: license type

Robot Model
Getting Started

Installation guide and basic setup configuration - [coming soon]

License: license type


License: license type

Handover Task
Peg in Hole Task
bottom of page