Wearable MIMUs for the Identification of Upper Limbs Motion in an Industrial Context of Human-Robot Interaction

Abstract

The automation of human gestures is gaining increasing importance in manufacturing. Indeed, robots support operators by simplifying their tasks in a shared workspace. However, human-robot collaboration can be improved by identifying human actions and then developing adaptive control algorithms for the robot. Accordingly, the aim of this study was to classify industrial tasks based on accelerations signals of human upper limbs. Two magnetic inertial measurement units (MIMUs) on the upper limb of ten healthy young subjects acquired pick and place gestures at three different heights. Peaks were detected from MIMUs accelerations and were adopted to classify gestures through a Linear Discriminant Analysis. The method was applied firstly including two MIMUs and then one at a time. Results demonstrated that the placement of at least one MIMU on the upper arm or forearm is suitable to achieve good recognition performances. Overall, features extracted from MIMUs signals can be used to define and train a prediction algorithm reliable for the context of collaborative robotics.