Mapping Human to Robot Motion with Functional Anthropomorphism for Teleoperation and Telemanipulation with Robot Arm Hand Systems

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#National Technical University of Athens #Minas V. Liarokapis #Panagiotis K. Artemiadis #Kostas J. Kyriakopoulos #teleoperation #telemanipulation #robot arm #Mitsubishi PA10 #robot hand #DLRHIT 2 #humantorobot motion mapping #anthropomorphism #jointtojoint mapping methodology #force feedback #vibrotactile

This video shows teleoperation and telemanipulation with a robot arm (Mitsubishi PA-10) and a robot hand (DLR/HIT 2). A human-to-robot motion mapping scheme guarantees anthropomorphism. Two position trackers are used to capture position and orientation of human end-effector (wrist) and human elbow in 3D space and a data glove captures human hand kinematics. Human hand motion is transformed to robot hand motion using the joint-to-joint mapping methodology. A low-cost force feedback device that provides a mix of sensory information (visual and vibrotactile) was developed so that the user can detect contact and ?perceive? the forces exerted by the robot hand.

This video shows teleoperation and telemanipulation with a robot arm (Mitsubishi PA-10) and a robot hand (DLR/HIT 2). A human-to-robot motion mapping scheme guarantees anthropomorphism. Human hand motion is transformed to robot hand motion using the joint-to-joint mapping methodology.

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