A Fastening Tool Tracking System Using an IMU and a Position Sensor With Kalman Filters and a Fuzzy Expert System

The Virtual Assembly Technology Based on Natural Gesture

“…Therefore, the acceleration of the end of the gesture in the space coordinate system can be expressed as [6]:…”

“…The hand tracking system consists of five Leap Motions, it can obtain the position date and the orientation date of gestures. Also, Kalman Filter [3] and Particle Filter [4] are employed to reduce the data error. And then we can apply the noncontact force feedback system with four coils using Lorenz force to feel the drag force like in a real environment.…”

“…Firstly, the orientation and the position of gestures will be collected by the hand tracking system using five Leap Motions. Then we use the Kalman Filter [3] algorithm and the Particle Filter [4] algorithm to evaluate the orientation and position of our hands. After the data of our hands fused, we can use 3D Max to build the joint model of our hands, and then we can get an accurate three-dimension model of our hands.…”

The Virtual Acupuncture Based on Natural Gesture and Force Feedback

“…In the whole process of our virtual acupuncture system, firstly, by five Leap Motions, we get the position as well as orientation of the hand. Because the error will exist and accumulate over time during measuring the data of the hand, to solve this problem, the Kalman Filter [4] algorithm and the Particle Filter [5] algorithm which can estimate the position and the orientation of the hand respectively are introduced. Then the 3D Max can be used to build the joint model of the hand.…”

“…So that it can create a three-dimensional space force with the appropriate magnitude and direction. According to the bilateral control model [9] b and m b refer to the velocity damping coefficient of the master-slave hand. We can get the information of operator's hand including positon, velocity, and acceleration before.…”