We describe simple to build mechanomyography sensors,
with one or two channels, based on electret microphones. We evaluate their application as a source of information about the operator’s hand stiffness, which can be
used for changing a robot’s gripper stiffness during teleoperation. We explain a data acquisition procedure for
further employment of a machine-learning. Finally, we
present the results of three experiments and various machine learning algorithms. support vector classification,
random forests, and neural-network architectures (fullyconnected articial neural networks, recurrent, convolutional) were compared in two experiments. In first and
second, two probes were used with a single participant,
with probes displaced during learning and testing to evaluate the influence of probe placement on classifcation.
In the third experiment, a dataset was collected using two
probes and seven participants. As a result of the singleprobe tests, we achieved a (binary) classification accuracy of 94 % during the multi-probe tests, large crossparticipant differences in classifcation accuracy were noted, even when normalizing per-participant.
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