Natural Tele-manipulation for Robot Movement based on Motion Pattern of Arm Posture

Abdul Muis, Isak Martin Simbolon

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

There have been tremendous efforts on robot telemanipulation by the human arm through various sensors. Some approaches use mechanical or electronics sensors attached to the human arm. Other uses non-touch sensor such as camera, Kinect, or Motion Leap. The extracted features of the human arm are often mapped to corresponding joints of the manipulated robots. This condition leads humans to stick to stiff movements. In contrast, there is a need for an actor doing telemanipulation on stage with natural movement. The more natural the movement during telemanipulation, the more attractive to the audience. In which, the audience feels as if the actor communicates with the robot. And the robot understands what being instructed by the actor. Indeed, this paper considers the natural movements of the actor by examining the motion pattern of the human arm posture as the manipulation reference. A Myo Armband sensor is used in this paper to extract the arm posture. At the same time, the movement is observed to obtained the motion pattern. Later both information is then used for manipulating a robot. In order to validate the proposed method, a serial manipulator robot is utilized. Some experimental results show that the arm posture and the pattern of changing from one posture to another can be extracted and used for manipulating robot movement.

Original languageEnglish
Title of host publicationProceeding - ICoSTA 2020
Subtitle of host publication2020 International Conference on Smart Technology and Applications: Empowering Industrial IoT by Implementing Green Technology for Sustainable Development
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728130835
DOIs
Publication statusPublished - Feb 2020
Event2020 International Conference on Smart Technology and Applications, ICoSTA 2020 - Surabaya, Indonesia
Duration: 20 Feb 2020 → …

Publication series

NameProceeding - ICoSTA 2020: 2020 International Conference on Smart Technology and Applications: Empowering Industrial IoT by Implementing Green Technology for Sustainable Development

Conference

Conference2020 International Conference on Smart Technology and Applications, ICoSTA 2020
Country/TerritoryIndonesia
CitySurabaya
Period20/02/20 → …

Keywords

  • arm motion pattern
  • arm posture
  • Myo Armband
  • natural telemanipulation

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