Development and User Testing of the Gestural Joystick for Gloves-On Hazardous Environments

Abstract

Abstract-For controlling robots in an urban search and rescue (USAR) application, we present a wearable joystick with improved sensing capability as well as Giant MagnetoResistance(GMR) sensor model for rare-earth magnet. Scientists have already begun to try to apply existing interactive devices to control USAR robots in a disaster. In a USAR task, the selection out of numerous interactive devices has to be carefully concerned. Some clumsy or irritating interactive devices can result in the burden of the carrying. We present a wearable joystick based on unencumbered mechanism. The features of the wearable joystick include easy and wire-free installation into regular gloves. We improved the hardware structure for sensor pad and alignment of magnets and applied band-typed sensor pad to completely wrap up wrist. This band-typed mechanism allows us to reliably obtain sensor data. However, in order to determine the performance of the new device, we perceived that we required an adequate evaluation method. We adopt movement time and Fractal dimension evaluation method to describe the degree of control path tortuosity. In addition, we present experimental results in both computer screen and real USAR robot test.

The gestural joystick and the efficacy of the path tortuosity metric for human/robot interaction

“…Calibration of the sensitive but highly nonlinear GMR detectors is described in [15]. User evaluation tests are presented below for a simulated search and rescue task to compare controllability to a conventional joystick.…”

Smart Glove and Hand Gesture-based Control Interface For Multi-rotor Aerial Vehicles

“…Therefore, using finger curvature and hand angles from smart gloves is an elegant method for human-machine interaction in controlling robot movements. Authors in [39] made a connection between wearable gadgets and non-wearable methods, such as joysticks, trackballs, mouse position, and mouse velocity, in random applications. The results show that compared to non-wearable gadgets, the robotic glove is more consistent with natural hand movements, has better interaction, and is closer to what the user expects from the behavior of a robot.…”

Using fractal dimension to assess robot operator search skill

“…Voshell, et al [6], [7] used path tortuosity measured by fractal dimension to compare the effectiveness of two robot user interfaces. Bae, Voyles, et al [8], [9] used fractal dimension to compare the effectiveness of standard computer input devices to a wearable glove input device. In the Voshell studies, operators of a robot with a folded perspective display were shown to navigate the robot through a simulated environment towards a specific point more smoothly than operators with a standard video display.…”