An IoT-Enabled Telerobotic-Assisted Healthcare System Based on Inertial Motion Capture

摘要

Evolution of smart sensing technologies provide an increasingly utilization for IoT-enabled healthcare. In the context of the aging population, the demand for elderly-assistant robots is increasing. At the same time, more and more attention has been paid to the more intuitive way of remote human-robot interaction. In this article, we present the design, implementation, and evaluation of a telerobotic-assisted healthcare system with the ability to achieve the remote elderly assistant and healthcare application. In this work, a remote operation interface using wearable inertial motion capture suit is proposed to control the YuMi robot remotely. The motion capture subsystem and the robot control subsystem are all based on robot operation system (ROS) to carry out the distributed design and integration. The robot arm is controlled by the position and orientation data of the operator's hand acquired by the motion capture suit. Furthermore, the robot's gripper is controlled by the finger bending signal acquired by a data glove. The achievement and performance of the introduced system was verified by experiments.