Human Machine Interface HMI using Kinect sensor to control a SCARA Robot

Abstract

The iteration human with the environment depends on the ability to use the limbs for manipulating objects effects, the development of these skills in robots is a broad field where they can research and implementations, one of which is the development platforms robotics for operation by sensors that provide good performance robot control, even if the user has certain limitations drive. This paper presents an alternative of a Human Machine Interface (HMI), which is based on the use of the Microsoft Kinect sensor, this system allows the user to control HMI realtime SCARA robotic arm, by estimating movements upper extremity of the operator using depth images and assuming a starting position. To implement the control of the robotic arm using the Kinect sensor as this through its libraries OpenNI, allows solutions in C♯ using the natural interaction and giving track joints associated with left and right hand users can rotate motors robot and control the behavior of the SCARA robot by simply moving your arms.