A Gesture-Based Teleoperation System for Compliant Robot Motion
1
Department of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, Liaoning Province, China
2
SoftLab, Bristol Robotics Laboratory, University of Bristol, Bristol BS16 1QY, UK
*
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(24), 5290; https://doi.org/10.3390/app9245290
Received: 11 October 2019 / Revised: 23 November 2019 / Accepted: 29 November 2019 / Published: 4 December 2019
(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)
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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MDPI and ACS Style
Zhang, W.; Cheng, H.; Zhao, L.; Hao, L.; Tao, M.; Xiang, C. A Gesture-Based Teleoperation System for Compliant Robot Motion. Appl. Sci. 2019, 9, 5290.
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