Design of motion-tracking device for intuitive and safe human-robot physical interaction

摘要

During the last decade there is an ever increasing interest for human-robot and, in general, user-machine interaction schemes of low-complexity and high-accuracy. In this context, intuitive and user-friendly interfaces based on hand gestures and movements are particular important for everyday users (especially older ones) of service robotics applications. In this paper, we explore the use of Inertial Measurement Unit (IMU) in a versatile movement sensing device that can be used by an elderly person to tele-manipulate a robot arm that helps him/her to complete bathing tasks. We present tele-manipulation system requirements taking into account the required accuracy in motion tracking and the need to address the limited physical abilities of the targeted user. We also discuss the integration of the tele-manipulation component into the envisaged service robotics environment and present an approach for its realization. Preliminary results assessing the performance of the proposed motion tracking system are also presented.