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Open AccessArticle

A Gesture-Based Teleoperation System for Compliant Robot Motion

Department of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, Liaoning Province, China
SoftLab, Bristol Robotics Laboratory, University of Bristol, Bristol BS16 1QY, UK
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(24), 5290;
Received: 11 October 2019 / Revised: 23 November 2019 / Accepted: 29 November 2019 / Published: 4 December 2019
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. View Full-Text
Keywords: gesture-based teleoperation; robotic assembly; force feedback; compliant robot motion gesture-based teleoperation; robotic assembly; force feedback; compliant robot motion
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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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