A Robotic Arm Telemanipulated through a Digital Glove

摘要

In this paper, we present preliminary results in the telemanipulation of a robotic arm through a digital glove, which unlike other telemanipulated system components, its acquisition cost is low. The components are already equipped with a communication scheme either to get data from the robot or to produce it to the glove. However, to the best of our knowledge, no manipulation scheme has been designed to connect these specific components. The manipulation scheme was created to translate each gesture coming from the glove, into a valid command to the robotic arm. This scheme is believed to be functional because only natural gestures are required from the operator. A master-slave model is used to communicate both the local and the remote stations. The communication technique is based on sockets using the object-oriented programming language Microsoft Visual C++.