A Gesture-Based Teleoperation System for Compliant Robot Motion

Wei Zhang, Hongtai Cheng, Liang Zhao, Lina Hao, Manli Tao, Chaoqun Xiang
2019 Applied Sciences  
Currently, the gesture-based teleoperation system cannot generate precise and compliant robot motions because human motions have the characteristics of uncertainty and low-resolution. In this paper, a novel, gesture-based teleoperation system for compliant robot motion is proposed. By using the left hand as the commander and the right hand as a positioner, different operation modes and scaling ratios can be tuned on-the-fly to meet the accuracy and efficiency requirements. Moreover, a
more » ... reover, a vibration-based force feedback system was developed to provide the operator with a telepresence capability. The pick-and-place and peg-in-hole tasks were used to test the effectiveness of the teleoperation system we developed. The experiment results prove that the gesture-based teleoperation system is effective at handling compliant robot motions.
doi:10.3390/app9245290 fatcat:4rwonyeb2zfpzihjhrl5rblw6y