Task-orientated human-robot teleoperation using wearable sensors
Teoh, Yee Seng
Date of Issue2016
School of Mechanical and Aerospace Engineering
Robotics Research Centre
With the desire of solving numerous problems arise in hazardous environment where human alone unable to accomplish the required tasks, teleoperation using real-time robots have been deployed into the dangerous or inaccessible workspace. When performance of teleoperation is considered, accuracy, timing, adaptability, safety and repeatability will be evaluated to distinguish the effectiveness of the teleoperation system being implemented. In this paper, we have worked on controlling the trajectory of end effector of Universal Robot (UR) using wearable IMU sensors. The wearable IMU sensors are mounted on one of the human arm to measure the real time position and orientation data of human arm, and hand. From there, 6-DOF human hand motions can be related to the 6-DOF robot arm’s end effector motions. Based on the well-defined tasks according to workplace dimensions and required moving directions, the algorithm of motion mapping law from human motion to the robot motion can be determined by certain introduced method. In this way, the human operator is able to control the robot smoothly using his or her arm to complete the required task. Two experiments have been conducted to evaluate the performance and effectiveness of the teleoperation system. In benchmark experiment, simple movement tasks such as moving the robot end effector in fixed-distance straight line at orthogonal direction are done. The accuracy, adaptation time and repeatability of the system are obtained and examined. In gripping task experiment, the robot is controlled to grasp different size and shape of objects and place them into 4-spaced cupboard, where the robot required turning in certain orientation while grasping and dropping the object. This experiment is repeated by eight subjects to evaluate the performance of the system, where the adapting time, total time to complete the task, success rate of the task, frequency of interruption to happen and user evaluation are considered. The data collected are analyzed and compared again with other currently existing teleoperation system. The results show that the teleoperation system has short adaptation time for inexperience operator. It has a fast response with time delay of 0.3s, high accuracy with accuracy error of 26mm, and good repeatability with repeatability error of 17mm. The average evaluation from the participants is 4.19 out of 5.0.
Final Year Project (FYP)
Nanyang Technological University