Human motion caption with vision and inertial sensors for hand/arm robot teleoperation

Issue title: Proceedings from the 17th International Symposium on Applied Electromagnetics and Mechanics (ISEM 2015)

Guest editors: Fumio Kojima, Futoshi Kobayashi and Hiroyuki Nakamoto

Article type: Research Article

Authors: Kobayashi, Futoshi^* | Kitabayashi, Keiichi | Shimizu, Kai | Nakamoto, Hiroyuki | Kojima, Fumio

Affiliations: Department of Systems Science, Kobe University, Kobe, 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. A teleoperation system for the hand/arm robot allows intuitive manipulation of the hand/arm robot. This paper deals with a motion capture system for controlling the hand/arm robot remotely. Here, we use vision and inertial sensors simultaneously in order to detect the position and the posture of an operator's arm and hand.

Keywords: Motion capture, vision, inertial sensor, teleoperation

DOI: 10.3233/JAE-162140

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 52, no. 3-4, pp. 1629-1636, 2016