S121013 Master-slave robotic arm manipulation for communication robot

Abstract

This study has explores a development procedure of Master-Slave robot arm manipulation by using data glove. The human hand is used as master hand to control the robotic slave hand in this system. In order to control the arm of a communication robot, several form of manipulating ways have been tested. Among the available manipulating devices Joystick, Keyboard, Mouse, etc. are common. But the data glove is not a conventional device as a robot arm manipulator; one of the reasons is that, until recently most of the commercial data gloves have been developed for gaming purposes or for using in a virtual reality environment. According to our speculation, data glove can serve as an effective manipulator for robot arm. If a communication robot is operated by a person who doesn't have prior knowledge about manipulating device, he may control the arm naturally by using a data glove. Based on our previous experimental trials on gesture-based arm manipulation by data glove, we assume a Master-Slave control by data glove will ameliorate the manipulation process, and will offer an intuitive controlling operation to the operator.