Motion mapping from human arm to a heterogeneous slave arm for tele-manipulation

This paper studies the motion mapping from a human arm to a heterogeneous slave robot arm for tele-manipulation. A wearable motion capture system is employed to measure the motion of the master arm (i.e., the human arm), and then the motion of human arm is mapped into the workspace of the slave robot arm via corresponding joint group mapping, as a result, we can control the motion of the heterogeneous slave manipulator. This system possesses two remarkable advantages: the fatigue degree and error rate of the operating staff can be significantly reduced, and the safety of the tele-manipulator in an unstructured and constrained environment can be significantly improved.