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Intuitive and Adaptive Robotics Arm Manipulationusing Leap Motion Controller (LMC)D. Bassily, C. Georgoulas, J. Güttler, T. Linner, T. BockISR/Robotik 2014; 41st International Symposium on Robotics, Munich, Germany
Quan LeHCI Lab
04th, Feb 2015
▧ Introduction▧ Proposed concepts▧ Implementation▧ Research projects▧ Conclusion
Contents
Fig1. The 6-DOF Jaco robotic arm
2
- Populations around the world are rapidly ageing.- Ageing society faces numerous challenges in performing
simple task in Activities of Daily Living (ADLs).
Introduction3
- Caring of elderly and handicapped people becomes more and more important.
- Many technical aids have been developed, but provided limited functionality.
Introduction
Fig3. Mobile arm support (MAS)Fig2. JAECO/Rancho Multilink MAS
Mobile arm supports: evidencebased benefits and criteria for use, Journal of Spinal
Cord Medicine, 31 (2008) 388-393
4
Proposed concepts
Supporting elderly and disabled people in home environment- Reduce the involved operation complexity of some
common human-robot interactions.- The Leap Motion Controller (LMC) is used to operate the
Jaco Robot in intuitive way.- Keyboard or joystick is replaced by LMC.- Mapping user’s real arm and the Jaco arm.- Estimate and filter out the unwanted oscillation.
6
Proposed concepts
Tele-Operation- A method to operate a robot, while still being at a distance
from it.- Dangerous and risky application areas (space exploration,
surveillance, surgery, nuclear plants and underwater operation).
7
Proposed concepts
Tremor Detection- The sub-millimeter accuracy of the
controller could be seen as an opportunity for detecting symptoms related to hand tremor.
- Detect and process the user palm, sent out-put data to robotic arm, filter out unwanted oscillation, enable smooth operations.
- LMC can be efficiently used to validate and quantify the tremor and bradykinesia.
8
Coordinate system
transformation
Mapping Algorithm
Connect to Arduino micro-
controller
Steps of development9
Coordinate system transformation- Relate two systems together by performing some
rotations.
Steps of development
Fig4. Coordinate system transformation
10
Calibration process- Performs a specific gesture.- Fix hand in 10 ~15 sec.- Threshold values ensure that the hand tremor is not reflect to the robotic arm.
Steps of development
Fig6. The Calibration process
12
Connect to Arduino micro-controller- Enhance the functionality of the system.
Steps of development
Fig7. Grasp and Release operation
13
- Offers possibilities for elderly people to work at their home environment and thus contribute to the society.
USA2 projects
Fig9. The USA² project demonstrator
Fig10. The schematic diagram of the system
16
- Contribute the quality of living of the ageing society and impaired people, and assist them in maintaining an independent lifestyle in the home environment.
- Implement system in AAL* fat, also to mobility such as wheelchairs, rollators,…
AAL flat research
*Ambient Assisted Living
17
AAL flat researchFig11. The bedroom terminal
Fig13. The kitchen terminal
Fig12. The Lisa Smart Wall
18
- The intuitive manipulation of robotics arm uses a new gesture and LMC tracking system with sub-millimeter accuracy.
- Introduce a simple and straighforward robotics arm minipulation scheme.
- Enable incorporation of robotics system into the home environment.
- LMC technology would be benefit to enhance the independence and autonomy of individuals or montitors and prevents some diseases, such as Parkinson.
Conclusion19