Motion capture with inertial measurement units for hand/arm robot teleoperation

Issue title: Proceedings from the 16th International Symposium on Applied Electromagnetics and Mechanics (ISEM 2013)

Guest editors: Xavier Maldague and Toshiyuki Takagi

Article type: Research Article

Authors: Kobayashi, Futoshi^{a; *} | Hasegawa, Ko^a | Nakamoto, Hiroyuki^a | Kojima, Fumio^b

Affiliations: [a] Department of Systems Science, Kobe University, Nada-ku, Kobe, Japan | [b] Organization of Advanced Science and Technology, Kobe University, Nada-ku, Kobe, Japan | Université Laval, Canada | Tohoku University, Japan

Correspondence: [*] Corresponding author: Futoshi Kobayashi, Department of Systems Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan. E-mail: futoshi.kobayashi@port.kobe-u.ac.jp

Abstract: The multi-fingered robot hand has much attention in various fields. Many robot hands have been proposed so far and we have developed a hand/arm robot with universal robot hand II. The human type robot like the hand/arm robot can be operated by imitating the human motion. Various types of the human motion capture have been developed. However, it is difficult to capture the twist motion by the conventional motion capture. This paper deals with a motion capture system with inertial measurement units (IMUs). The IMUs are used in order to estimate the joint angles of the operator's hand and arm.

Keywords: Motion capture, inertial measurement unit, teleoperation

DOI: 10.3233/JAE-141927

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 45, no. 1-4, pp. 931-937, 2014