多侧遥操作的在线重定位

Gi-Hun Yang, Jongha Won, Seokwoo Ryu
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引用次数: 4

摘要

重定向是一种主机器人的输入与从机器人的输出之间的映射函数。如果从机器人要进行远程手术、空间操作、危险场所操作等远程操作任务,末端执行器的点就变得非常重要。本文采用数据手套、视觉传感器和磁传感器,开发了一种远程操作任务重定向系统。该系统可以感知人类手腕的运动和位置,包括手指在内的手部运动。有了这个系统,用户可以毫无困难地操纵遥控机械臂和机械手。该系统能够提供直观、精确的遥操作模式。利用数据手套研究了基于手势的控制模式。
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Online retargeting for multi-lateral teleoperation
Retargeting is a kind of mapping function between input of the master device and output of the slave robot. If the slave robot should conduct a teleoperation task like tele-surgery, operation in the space, operation in a dangerous place, the point of the end-effector becomes very important. In this paper, we have developed a retargeting system for teleoperation task, using data glove and vision sensor, and magnetic sensor. The system can sense motion and position of human wrist, hand motion including the fingers. With this system, the user can manipulate teleoperated robotic arm and robotic hand without any difficulties. The proposed system can provide intuitive and precise teleoperation mode. Also, hand gesture-based control mode was investigated using data glove.
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