Human Multi-dimensional Stiffness Skills Transfer for Robot Teleoperation System

Neuroscience research has demonstrated the sig-nificance of modulating stiffness during human task performance. Similarly, endowing robots with such capability is expected. However, existing methods for robot teleoperation require operators to simultaneously control position and stiffness, resulting in high workload and task inefficiency. On the other hand, learning from demonstration (LfD) offers a feasible approach for autonomously generating stiffness. Therefore, this paper proposes a robot teleoperation system that combines the advantages of teleoperation and LfD. Teleoperation enables precise positioning guided by human operators, while LfD can transfer human stiffness skills to robots. A teleoperation-oriented stiffness-adaptive Gaussian Mixture Model/Gaussian Mixture Regression method is proposed to learn human multi-dimensional stiffness and reproduce robot stiffness on a Riemannian manifold. To enhance generalization and cooperate with teleoperation, reference points and position-driven output are introduced. Furthermore, a teleoperation strategy for both the single-leader-single-follower configuration and the single-leader-dual-follower configuration are designed, which allows operators to control either one or two robot arms with a single leader device. Finally, the effectiveness of our method is verified through a plugging-in task and a continuous flipping task, demonstrating that the proposed system is capable of performing tasks that demand high positioning accuracy and stiffness adjustment. A supplementary video for this paper is available in GitHub**https://github.com/setowenGit/TOSA-GMM-GMR-Video.