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

Tang, Gilbert; Asif, Seemal; Webb, Philip

doi:10.1108/ir-03-2015-0059

Cited by 17 publications

(12 citation statements)

References 34 publications

(29 reference statements)

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“…53 However, the drawback is that it is easily affected by the environment and easily disturbed by illumination. 54 One of the vision applications used in wearable devices is shown in Figure 3(d). 36…”

Section: Sensor Technologiesmentioning

confidence: 99%

Wearable sensing devices for upper limbs: A systematic review

Dong

Fang

et al. 2020

Proc Inst Mech Eng H

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Wearable sensing devices, which are smart electronic devices that can be worn on the body as implants or accessories, have attracted much research interest in recent years. They are rapidly advancing in terms of technology, functionality, size, and real-time applications along with the fast development of manufacturing technologies and sensor technologies. By covering some of the most important technologies and algorithms of wearable devices, this paper is intended to provide an overview of upper-limb wearable device research and to explore future research trends. The review of the state-of-the-art of upper-limb wearable technologies involving wearable design, sensor technologies, wearable computing algorithms and wearable applications is presented along with a summary of their advantages and disadvantages. Toward the end of this paper, we highlight areas of future research potential. It is our goal that this review will guide future researchers to develop better wearable sensing devices for upper limbs.

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Section: Sensor Technologiesmentioning

confidence: 99%

Wearable sensing devices for upper limbs: A systematic review

Dong

Fang

et al. 2020

Proc Inst Mech Eng H

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“…Optical-based pose capturing technologies are the least physically restrained ones over all kinds of solutions (Jiang et al, 2014;Lim et al, 2011;Tang et al, 2015), representing the most natural kind of user interface. Commercially available markerbased products, such as OptiTrack (2020), are designed to capture poses by tracking reflective markers (Kertis et al, 2010;Spanlang et al, 2013).…”

Section: Introductionmentioning

confidence: 99%

An integrated vision-based system for efficient robot arm teleoperation

Yang

Zhu

et al. 2020

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Purpose This paper aims to present a natural human–robot teleoperation system, which capitalizes on the latest advancements of monocular human pose estimation to simplify scenario requirements on heterogeneous robot arm teleoperation. Design/methodology/approach Several optimizations in the joint extraction process are carried on to better balance the performance of the pose estimation network. To bridge the gap between human joint pose in Cartesian space and heterogeneous robot joint angle pose in Radian space, a routinized mapping procedure is proposed. Findings The effectiveness of the developed methods on joint extraction is verified via qualitative and quantitative experiments. The teleoperation experiments on different robots validate the feasibility of the system controlling. Originality/value The proposed system provides an intuitive and efficient human–robot teleoperation method with low-cost devices. It also enhances the controllability and flexibility of robot arms by releasing human operator from motion constraints, paving a new way for effective robot teleoperation.

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“…Existing research on robot teleoperation using contactless gesture control could be classified into two main types and these are imitation of human movements [12,[14][15][16][17][18] and gesture recognition [19][20][21][22][23][24][25][26]. These researches have focused on technological development with a lack of application and ergonomic considerations; these could affect users' health and experience for practical long-term use.…”

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

Cited by 17 publications

References 34 publications

Wearable sensing devices for upper limbs: A systematic review

Wearable sensing devices for upper limbs: A systematic review

An integrated vision-based system for efficient robot arm teleoperation

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

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