IMU Motion Capture Method with Adaptive Tremor Attenuation in Teleoperation Robot System
Teleoperation robot systems can help humans perform tasks in unstructured environments. However, non-intuitive control interfaces using only a keyboard or joystick and physiological tremor reduce the performance of teleoperation. This paper presents an intuitive control interface based on the wearab...
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MDPI AG
2022-04-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/9/3353 |
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| author | Huijin Zhu Xiaoling Li Long Wang Zhangyi Chen Yueyang Shi Shuai Zheng Min Li |
| author_facet | Huijin Zhu Xiaoling Li Long Wang Zhangyi Chen Yueyang Shi Shuai Zheng Min Li |
| author_sort | Huijin Zhu |
| collection | DOAJ |
| description | Teleoperation robot systems can help humans perform tasks in unstructured environments. However, non-intuitive control interfaces using only a keyboard or joystick and physiological tremor reduce the performance of teleoperation. This paper presents an intuitive control interface based on the wearable device gForcePro+ armband. Two gForcePro+ armbands are worn at the centroid of the upper arm and forearm, respectively. Firstly, the kinematics model of the human arm is established, and the inertial measurement units (IMUs) are used to capture the position and orientation information of the end of the arm. Then, a regression model of angular transformation is developed for the phenomenon that the rotation axis of the torsion joint is not perfectly aligned with the limb segment during motion, which can be applied to different individuals. Finally, to attenuate the physiological tremor, a variable gain extended Kalman filter (EKF) fusing sEMG signals is developed. The described control interface shows good attitude estimation accuracy compared to the VICON optical capture system, with an average angular RMSE of 4.837° ± 1.433°. The performance of the described filtering method is tested using the xMate3 Pro robot, and the results show it can improve the tracking performance of the robot and reduce the tremor. |
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| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T03:41:40Z |
| publishDate | 2022-04-01 |
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| spelling | doaj.art-110d9d954e8e48d4aa67d65eaa1be3c32023-11-23T09:17:13ZengMDPI AGSensors1424-82202022-04-01229335310.3390/s22093353IMU Motion Capture Method with Adaptive Tremor Attenuation in Teleoperation Robot SystemHuijin Zhu0Xiaoling Li1Long Wang2Zhangyi Chen3Yueyang Shi4Shuai Zheng5Min Li6School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, ChinaSchool of Software Engineering, Xi’an Jiaotong University, Xi’an 710000, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, ChinaTeleoperation robot systems can help humans perform tasks in unstructured environments. However, non-intuitive control interfaces using only a keyboard or joystick and physiological tremor reduce the performance of teleoperation. This paper presents an intuitive control interface based on the wearable device gForcePro+ armband. Two gForcePro+ armbands are worn at the centroid of the upper arm and forearm, respectively. Firstly, the kinematics model of the human arm is established, and the inertial measurement units (IMUs) are used to capture the position and orientation information of the end of the arm. Then, a regression model of angular transformation is developed for the phenomenon that the rotation axis of the torsion joint is not perfectly aligned with the limb segment during motion, which can be applied to different individuals. Finally, to attenuate the physiological tremor, a variable gain extended Kalman filter (EKF) fusing sEMG signals is developed. The described control interface shows good attitude estimation accuracy compared to the VICON optical capture system, with an average angular RMSE of 4.837° ± 1.433°. The performance of the described filtering method is tested using the xMate3 Pro robot, and the results show it can improve the tracking performance of the robot and reduce the tremor.https://www.mdpi.com/1424-8220/22/9/3353IMUregression modelphysiological tremorEKFsEMG signalteleoperation system |
| spellingShingle | Huijin Zhu Xiaoling Li Long Wang Zhangyi Chen Yueyang Shi Shuai Zheng Min Li IMU Motion Capture Method with Adaptive Tremor Attenuation in Teleoperation Robot System Sensors IMU regression model physiological tremor EKF sEMG signal teleoperation system |
| title | IMU Motion Capture Method with Adaptive Tremor Attenuation in Teleoperation Robot System |
| title_full | IMU Motion Capture Method with Adaptive Tremor Attenuation in Teleoperation Robot System |
| title_fullStr | IMU Motion Capture Method with Adaptive Tremor Attenuation in Teleoperation Robot System |
| title_full_unstemmed | IMU Motion Capture Method with Adaptive Tremor Attenuation in Teleoperation Robot System |
| title_short | IMU Motion Capture Method with Adaptive Tremor Attenuation in Teleoperation Robot System |
| title_sort | imu motion capture method with adaptive tremor attenuation in teleoperation robot system |
| topic | IMU regression model physiological tremor EKF sEMG signal teleoperation system |
| url | https://www.mdpi.com/1424-8220/22/9/3353 |
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