Haptic Feedback Experiments for Improved Teleoperation of a Robotic Arm

摘要

The paper presents a robotic arm which is operated by means of a sensorial interface mounted on the hand and arm of the human operator. The novelty of the research is the application of devices similar to those used for movements detection in virtual reality applications in order to command a robotic system. Depending on the precision of the application intended and also depending on the number of degrees of freedom, the motion detection for the human hand and arm’s motions was approached on different levels of complexity. The data processing methods and the action commands methods were developed in correlation with the structure of the robotic arm and starting from the monitor of the movements of the human arm and hand. The sensorial interface was conceived on the premises that the robotic arm should be able to realize movements similar to those of a healthy human hand, as requested by the application. Therefore, the sensorial interface that monitors the movement of the hand was implemented in order to command a robotic arm having 5 degree of freedom, having an anthropomorphic robotic hand at its end The joints of the system allow rotations of 30-180 degrees (depending on the utility and position). The experimental testing of the robotic system verified the performances of the robotic arm to replicate the movements of the human hand. The operator executed a sequence of movements, with the sensorial interface on, and the robotic arm reproduced the movements (the response was analyzed in quality and quantity).