Human–robot interaction via wearable device—a wireless glove system for remote control of 7-DoF robotic arm

摘要

Significance: The ability of robotic arm system to become teleoperational is essential for advancing remote work. Existing solutions often require complex setups, specialized training, and expensive hardware. Developing a simplified wearable device that can be rapidly integrated and deployed can significantly enhance accessibility where remote control is paramount, including remote surgeries in healthcare and hazardous environments. Aim and approach: This work presents the design and development of a wireless glove-based control system for remotely operating a robotic arm. A reliable, responsive, and user-friendly control system offers scalability, customization options, intuitive interaction, and ergonomic comfort. The approach combines advanced motion sensing using a 9 Degrees of Freedom (DoF) Inertial Measurement Unit (IMU) and real-time data processing. The IMU estimates roll, pitch, and yaw, directly controlling the translational movements (x, y, z) of the robotic arm’s end effector. Depending on button states, these inputs can also switch to control the end-effector rotations. Results: The developed glove demonstrated user compliance. The system is rapid to deploy, and the wireless device successfully captured real-time gesture control data and redirected it to the robotic system with an average latency of 185 ms, enabling the system to perform a range of manipulations, including pick and place, reaching, and grasping objects. Conclusions: This research presents a robust and efficient teleoperation system, offering a viable solution for advancements in remote robotic arm control. This innovation bridges the gap between the full potential of complex robotic systems and user interaction, unlocking new possibilities across various fields.