A gesture-based teleoperation system for compliant robot motion

Wei Zhang; Hongtai Cheng; Liang Zhao; Lina Hao; Manli Tao; Chaoqun Xiang

doi:10.3390/app9245290

A gesture-based teleoperation system for compliant robot motion

Wei Zhang, Hongtai Cheng^*, Liang Zhao, Lina Hao, Manli Tao, Chaoqun Xiang

^*Corresponding author for this work

Research output: Contribution to journal › Article (Academic Journal) › peer-review

30 Citations (Scopus)

168 Downloads (Pure)

Abstract

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.

Original language	English
Article number	5290
Number of pages	18
Journal	Applied Sciences (Switzerland)
Volume	9
Issue number	24
DOIs	https://doi.org/10.3390/app9245290
Publication status	Published - 4 Dec 2019

Keywords

Compliant robot motion
Force feedback
Gesture-based teleoperation
Robotic assembly

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AU - Zhao, Liang

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AU - Tao, Manli

AU - Xiang, Chaoqun

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N2 - 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.

AB - 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.

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A gesture-based teleoperation system for compliant robot motion

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