TY - GEN
T1 - Natural Tele-manipulation for Robot Movement based on Motion Pattern of Arm Posture
AU - Muis, Abdul
AU - Simbolon, Isak Martin
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/2
Y1 - 2020/2
N2 - 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.
AB - 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.
KW - arm motion pattern
KW - arm posture
KW - Myo Armband
KW - natural telemanipulation
UR - http://www.scopus.com/inward/record.url?scp=85085031746&partnerID=8YFLogxK
U2 - 10.1109/ICoSTA48221.2020.1570616453
DO - 10.1109/ICoSTA48221.2020.1570616453
M3 - Conference contribution
AN - SCOPUS:85085031746
T3 - Proceeding - ICoSTA 2020: 2020 International Conference on Smart Technology and Applications: Empowering Industrial IoT by Implementing Green Technology for Sustainable Development
BT - Proceeding - ICoSTA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 International Conference on Smart Technology and Applications, ICoSTA 2020
Y2 - 20 February 2020
ER -