Real-Time 3D Hand Gestures Recognition for Manipulation of Industrial Robots

Cerlinca, Tudor Ioan; Pentiuc, Štefan Gheorghe; Vlad, V. I.

doi:10.5755/j01.eee.19.2.1329

Cited by 8 publications

(3 citation statements)

References 11 publications

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“…Hand gestures are often used to reinforce the speaker's ideas, and people sometimes communicate only through hand gestures [6]. Thus, it is logical to consider using similar methods for communication in human-robot cooperative systems.…”

Section: Introductionmentioning

confidence: 99%

The Design and Evaluation of an Ergonomic Contactless Gesture Control System for Industrial Robots

Tang

Webb

2018

Journal of Robotics

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In industrial human-robot collaboration, variability commonly exists in the operation environment and the components, which induces uncertainty and error that require frequent manual intervention for rectification. Conventional teach pendants can be physically demanding to use and require user training prior to operation. Thus, a more effective control interface is required. In this paper, the design and evaluation of a contactless gesture control system using Leap Motion is described. The design process involves the use of RULA human factor analysis tool. Separately, an exploratory usability test was conducted to compare three usability aspects between the developed gesture control system and an off-the-shelf conventional touchscreen teach pendant. This paper focuses on the user-centred design methodology of the gesture control system. The novelties of this research are the use of human factor analysis tools in the human-centred development process, as well as the gesture control design that enable users to control industrial robot's motion by its joints and tool centre point position. The system has potential to use as an input device for industrial robot control in a human-robot collaboration scene. The developed gesture control system was targeting applications in system recovery and error correction in flexible manufacturing environment shared between humans and robots. The system allows operators to control an industrial robot without the requirement of significant training.

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Section: Introductionmentioning

confidence: 99%

The Design and Evaluation of an Ergonomic Contactless Gesture Control System for Industrial Robots

Tang

Webb

2018

Journal of Robotics

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“…Robots are being used for various applications including rehabilitation [1], [2], assistance [3], [4], Virtual Reality (VR) [5], rescue [6] and in other domains like industrial [7], space [8], nuclear power plants [9], underwater [10] and so on. The scope of the present paper is related with industrial sector where sophisticated scheme is required to control the robots [11] so as to enhance accuracy, repeatability and reliability [12]. The main challenge in the motion control of rigid manipulators is the complexity of their dynamics and uncertainties, which result from nonlinearities and coupling in the robotic manipulators.…”

Section: Introductionmentioning

confidence: 99%

Non-linear Control Law for Articulated Serial Manipulators: Simulation Augmented with Hardware Implementation

Ullah¹,

Ajwad²,

Irfan³

et al. 2016

ElAEE

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The performance of a robotic arm includes accuracy, repeatability and reliability to accomplish a task. These parameters, in turn, are function of associated control law. Multi-Degree Of Freedom (DOF) robotic arms, because of their inherent highly non-linear dynamics, demand sophisticated control laws. Trivial control strategies fail to cope with disturbances and uncertainties that are common in today's plants. This paper presents the design, simulation and physical implementation of a non-linear control technique Variable Structure Control (VSC) for a 6 DOF arm. Based on the derived dynamic model of the arm and designed control law, simulations have been conducted in MATLAB/Simulink. The controller parameters have been tuned for optimal response. Various desired trajectories characterize the tracking performance of the control law. The simulation results have been then validated by implementing the law on a customdeveloped novel AUTonomous Articulated Robotic Educational Platform (AUTAREP). Coupling effects between various joints of the robot have also been investigated. Results of this research find potential in industrial control of robotic manipulators to perform complex tasks.

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“…Human and robot collaboration involves a high level of cooperation, and therefore, an effective method of communication is crucial for the overall efficiency of such processes (Green et al, 2008). In human-to-human interaction, voice and hand gestures are practically inseparable; hand gestures are used to strengthen the speaker's ideas, and people sometimes communicate only through hand gestures (Cerlinca et al, 2013). In industrial terms, gesture communication is sometimes preferred due to the nature of operation environments, for example, high background noise and communication over a long distance may limit the effectiveness of speech communication.…”

Section: Introductionmentioning

confidence: 99%

The integration of contactless static pose recognition and dynamic hand motion tracking control system for industrial human and robot collaboration

Tang

Asif

Webb

2015

Industrial Robot: An International Journal

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Purpose – The purpose of this paper is to describe the integration of a gesture control system for industrial collaborative robot. Human and robot collaborative systems can be a viable manufacturing solution, but efficient control and communication are required for operations to be carried out effectively and safely. Design/methodology/approach – The integrated system consists of facial recognition, static pose recognition and dynamic hand motion tracking. Each sub-system has been tested in isolation before integration and demonstration of a sample task. Findings – It is demonstrated that the combination of multiple gesture control methods can increase its potential applications for industrial robots. Originality/value – The novelty of the system is the combination of a dual gesture controls method which allows operators to command an industrial robot by posing hand gestures as well as control the robot motion by moving one of their hands in front of the sensor. A facial verification system is integrated to improve the robustness, reliability and security of the control system which also allows assignment of permission levels to different users.

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Real-Time 3D Hand Gestures Recognition for Manipulation of Industrial Robots

Cited by 8 publications

References 11 publications

The Design and Evaluation of an Ergonomic Contactless Gesture Control System for Industrial Robots

The Design and Evaluation of an Ergonomic Contactless Gesture Control System for Industrial Robots

Non-linear Control Law for Articulated Serial Manipulators: Simulation Augmented with Hardware Implementation

The integration of contactless static pose recognition and dynamic hand motion tracking control system for industrial human and robot collaboration

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