Work

A Gesture-Based Teleoperation System for Compliant Robot Motion

Year: 2019

Type: article

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.

Source: Applied Sciences

DOI: 10.3390/app9245290

Authors: Wei Zhang, Hongtai Cheng, Liang Zhao, Lina Hao, Manli Tao, Chaoqun Xiang

Institutions: Northeastern University, University of Bristol, Bristol Robotics Laboratory

Language: English

Topic: Teleoperation and Haptic Systems

Subfield: Mechanical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $1,520

Funders: National Natural Science Foundation of China, Natural Science Foundation of Liaoning Province, Fundamental Research Funds for the Central Universities