Gestural Control of a Remote Robotic Manipulator

Abstract

Recent technological developments in motion tracking technology have lowered the price of motioncapture devices to the extent that nearly anyone can accurately model the dimensions and movement of the human body. The system described herein was the result of an attempt to capitalize on the aforementioned low-cost motion-capture technology to develop an accurate human-robot interface which relies on translating natural forelimb movement into servo actuation commands to control a robotic arm. Given that most endeavors into robotics are interdisciplinary, this work incorporates input from electrical engineering, mechanical engineering, computer science, and human-robot interface design. This system was specifically designed, in cooperation with NASA, to be used by an operator in a low-gravity environment, but the number of possible applications are substantial. These applications include, but are not limited to, military explosive ordnance disposal, remote maintenance in hostile environments, and safe exploration into hazardous environments.

The Effect of Control Device on Performance in a Robotic Arm Task

“…These findings are consistent with research examining performance using a zero-and first-order control devices (Card, English, & Burr, 1978;Jagacinski, Hartzell, Ward, & Bishop, 1978). Additionally, these findings support the hypothesized intuitive-nature of gesture-based, zero-order control devices (Harden, Bliss, & Dischinger, 2013;Yu et al, 2015).…”

“…As new, more economic motion-tracking systems become available, researchers have begun creating gesturebased control methods, sometimes referred to as natural user interfaces. Using the Xbox Kinect, Harden, Bliss, and Dischinger (2013) developed a control mechanism that mapped an operators' forelimb movement and translated the movement to the robotic arm with the goal of creating an intuitive, zero-order control. Similarly, Yu and colleagues (2015) used the Leap Motion controller to create a gesturebased control mechanism for NAO humanoid robot use in the home.…”