TY - GEN
T1 - Mapping human to robot motion with functional anthropomorphism for teleoperation and telemanipulation with robot arm hand systems
AU - Liarokapis, Minas V.
AU - Artemiadis, Panagiotis K.
AU - Kyriakopoulos, Kostas J.
N1 - Funding Information:
This work was supported by Yunnan Applied Basic Research Projects (Grant 2016FC007 ), the joint special funds for the Department of Science & Technology of Yunnan Province – Kunming Medical University (Grant 2017FE468 ), Health Science and Technology Project in Yunnan (Grant 2017NS011 ) and Key Laboratory of Translational Medicine for Cell therapy of Yunnan province (Grant 2015DG034 ).
PY - 2013
Y1 - 2013
N2 - In this paper teleoperation and telemanipulation with a robot arm (Mitsubishi PA-10) and a robot hand (DLR/HIT 2) is performed, using a human to robot motion mapping scheme that guarantees anthropomorphism. Two position trackers are used to capture position and orientation of human end-effector (wrist) and human elbow in 3D space and a dataglove to capture human hand kinematics. Then the inverse kinematics (IK) of the Mitsubishi PA-10 7-DoF robot arm are solved in an analytical manner, in order for the human's and the robot artifact's end-effectors to achieve same position and orientation in 3D space (functional constraint). Redundancy is handled in the solution space of the robot arm's IK, selecting the most anthropomorphic solution computed, with a criterion of 'Functional Anthropomorphism'. Human hand motion is transformed to robot hand motion using the joint-to-joint mapping methodology. Finally in order for the user to be able to detect contact and 'perceive' the forces exerted by the robot hand, a low-cost force feedback device, that provides a mixture of sensory information (visual and vibrotactile), was developed.
AB - In this paper teleoperation and telemanipulation with a robot arm (Mitsubishi PA-10) and a robot hand (DLR/HIT 2) is performed, using a human to robot motion mapping scheme that guarantees anthropomorphism. Two position trackers are used to capture position and orientation of human end-effector (wrist) and human elbow in 3D space and a dataglove to capture human hand kinematics. Then the inverse kinematics (IK) of the Mitsubishi PA-10 7-DoF robot arm are solved in an analytical manner, in order for the human's and the robot artifact's end-effectors to achieve same position and orientation in 3D space (functional constraint). Redundancy is handled in the solution space of the robot arm's IK, selecting the most anthropomorphic solution computed, with a criterion of 'Functional Anthropomorphism'. Human hand motion is transformed to robot hand motion using the joint-to-joint mapping methodology. Finally in order for the user to be able to detect contact and 'perceive' the forces exerted by the robot hand, a low-cost force feedback device, that provides a mixture of sensory information (visual and vibrotactile), was developed.
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U2 - 10.1109/IROS.2013.6696638
DO - 10.1109/IROS.2013.6696638
M3 - Conference contribution
AN - SCOPUS:84893751988
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2075
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -