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A gesture-based teleoperation system for compliant robot motion

Research output: Contribution to journalArticle

Original languageEnglish
Article number5290
Number of pages18
JournalApplied Sciences (Switzerland)
Volume9
Issue number24
DOIs
DateAccepted/In press - 29 Nov 2019
DatePublished (current) - 4 Dec 2019

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.

    Research areas

  • Compliant robot motion, Force feedback, Gesture-based teleoperation, Robotic assembly

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    Rights statement: This is the final published version of the article (version of record). It first appeared online via MDPI at https://www.mdpi.com/2076-3417/9/24/5290/htm . Please refer to any applicable terms of use of the publisher.

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    Licence: CC BY

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