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서지반출
Development of Human-Machine Interface for Teleoperation of a Mobile Manipulator
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  • Development of Human-Machine Interface for Teleoperation of a Mobile Manipulator
  • Development of Human-Machine Interface for Teleoperation of a Mobile Manipulator
저자명
Wang. Baocheng,Li. Zhijun,Ye. Wenjun,Xie. Qing
간행물명
International Journal of Control, Automation and Systems
권/호정보
2012년|10권 6호|pp.1225-1231 (7 pages)
발행정보
제어로봇시스템학회
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정기간행물|ENG|
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기타
이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
서지반출

기타언어초록

Human-robot control interfaces have received increased attention during the past decades for conveniently introducing robot into human daily life. In this paper, a novel Human-machine Interface (HMI) is developed, which contains two components. One is based on the surface electromyography (sEMG) signal, which is from the human upper limb, and the other is based on the Microsoft Kinect sensor. The proposed interface allows the user to control in real time a mobile humanoid robot arm in 3-D space, through upper limb motion estimation by sEMG recordings and Microsoft Kinect sensor. The effectiveness of the method is verified by experiments, including random arm motions in the 3-D space with variable hand speed profiles.