REMODEL. WP3. User And System Interface. T3_8. Teaching By Demonstration Of Skills For New Assembly References And Tasks. Intuitive robot programming. v0

This dataset was created in the framework of the Horizon 2020 project REMODEL, and is related to a robot programming framework for the simultaneous teaching of both trajectories by means of kinesthetic teaching, and robot interaction behavior by means of impedance shaping along the trajectory exploiting a wearable interface. Specifically, the wearable interface is designed to not affect the free motion of the operator, necessary to perform kinesthetic teaching, and it is based on the usage of surface electromyography (sEMG) and vibrotactile stimulation. In the experiment, the programming of requested compliance levels during the kinesthetic teaching of a trajectory is performed, and the reported results show that the provided wearable interface is successfully exploited by the operator. The data are presented in the publication:
Meattini, R., Chiaravalli, D., Galassi, K., Palli, G., & Melchiorri, C. (2022). Experimental Evaluation Of Intuitive Programming Of Robot Interaction Behaviour During Kinesthetic Teaching Using sEMG And Cutaneous Feedback. IFAC-PapersOnLine, 55(38), 1-6. https://doi.org/10.1016/j.ifacol.2023.01.125