• Alter-Ego
• EMG signals
• humanoid robot interface
• Myo Gesture Control Armband
• qb-move
• stiffness
• SUS test
• teleoperation
• usability

Thesis in collaboration with Marco Lupi.
This work presents the teleoperation control of a manipulator, in which the operator uses his own muscle activity to directly regulate the rigidity. In the first phase, for position control, we synthesized a gravity compensation control for a 6-Dof manipulator built with variable stiffness actuators (VSA). Instead, for rigidity control, the operator wears a Myo Armband bracelet, a wearable device which records electromyographic impulses from the operator's arm skin. We carried out an experimental campaign, including a variety of participants with varying technological and educational backgrounds, in order to comprehend the system's performance and usefulness. Alter-Ego X, a semi-anthropomorphic robot with soft hands and VSA qb-move, was employed for this investigation. Following a brief training phase, each subject completed three tasks using three distinct configurations: variable stiffness that the operator could regulate, maximum stiffness, and minimum stiffness. Using the System Usability Scale (SUS) questionnaire, we do system usability research. It is clear from the test results that one that directly affects the manipulator's rigidity with his own muscle activity is the best method, as well as from the answers to the SUS questionnaires that were given to the operators following the experiments.