A robotic hand-arm teleoperation system using human arm/hand with a novel data glove

Bin Fang, Di Guo, F. Sun, Huaping Liu, Yupei Wu
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引用次数: 33

Abstract

Data glove is one of the most commonly used techniques in the robotic teleoperation systems. In this paper, we propose a robotic hand-arm teleoperation system with a novel data glove called YoBu, which can acquire human motions from both the arm and the hand simultaneously. The proposed data glove is designed to be stable, compact and portable. It is composed of eighteen low-cost inertial and magnetic measurement units, among which fifteen units are attached to the human operator's finger joints for robotic hand teleoperation and three units are attached to the palm, upper arm and forearm respectively for robotic arm teleoperation. In the robotic hand-arm teleoperation system, the operating commands generated by the data glove are transmitted to the robot via a Bluetooth wireless communication, which makes the whole robotic teleoperation system simple and user friendly. Finally, several experiments are implemented to verify the efficiency of the proposed robotic teleoperation system.
一种利用人的手臂/手和一种新型数据手套的机器人手臂远程操作系统
数据手套是机器人远程操作系统中最常用的技术之一。本文提出了一种机器人手臂远程操作系统,该系统采用一种新颖的数据手套YoBu,可以同时从手臂和手获取人体运动。所提出的数据手套设计稳定、紧凑、便携。它由18个低成本的惯性和磁测量单元组成,其中15个单元附着在人类操作者的手指关节上进行机械手遥操作,3个单元分别附着在手掌、上臂和前臂上进行机械臂遥操作。在机械手遥操作系统中,数据手套产生的操作指令通过蓝牙无线通信传输给机器人,使得整个机械手遥操作系统简单易用。最后,通过实验验证了所提机器人遥操作系统的有效性。
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