A Gesture-Based Teleoperation System for Compliant Robot Motion

被引：19

作者：

Zhang, Wei ^{[1
]}

Cheng, Hongtai ^{[1
]}

Zhao, Liang ^{[1
]}

Hao, Lina ^{[1
]}

Tao, Manli ^{[1
]}

Xiang, Chaoqun ^{[2
]}

机构：

[1] Northeastern Univ, Dept Mech Engn & Automat, Shenyang 110819, Liaoning, Peoples R China

[2] Univ Bristol, SoftLab, Bristol Robot Lab, Bristol BS16 1QY, Avon, England

来源：

APPLIED SCIENCES-BASEL | 2019年 / 9卷 / 24期

关键词：

gesture-based teleoperation; robotic assembly; force feedback; compliant robot motion;

D O I：

10.3390/app9245290

中图分类号：

O6 [化学];

学科分类号：

0703 ;

摘要：

Currently, the gesture-based teleoperation system cannot generate precise and compliant robot motions because human motions have the characteristics of uncertainty and low-resolution. In this paper, a novel, gesture-based teleoperation system for compliant robot motion is proposed. By using the left hand as the commander and the right hand as a positioner, different operation modes and scaling ratios can be tuned on-the-fly to meet the accuracy and efficiency requirements. Moreover, a vibration-based force feedback system was developed to provide the operator with a telepresence capability. The pick-and-place and peg-in-hole tasks were used to test the effectiveness of the teleoperation system we developed. The experiment results prove that the gesture-based teleoperation system is effective at handling compliant robot motions.

引用

页数：18

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