A Wearable Upper Limb Exoskeleton for Intuitive Teleoperation of Anthropomorphic Manipulators
Teleoperation technology combines the strength and accuracy of robots with the perception and cognition abilities of human experts, allowing the robots to work as an avatar of the operator in dangerous environments. The motion compatibility and intuitiveness of the human–machine interface directly a...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-03-01
|
| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/4/441 |
| _version_ | 1797604638145380352 |
|---|---|
| author | Liang Zhao Tie Yang Yang Yang Peng Yu |
| author_facet | Liang Zhao Tie Yang Yang Yang Peng Yu |
| author_sort | Liang Zhao |
| collection | DOAJ |
| description | Teleoperation technology combines the strength and accuracy of robots with the perception and cognition abilities of human experts, allowing the robots to work as an avatar of the operator in dangerous environments. The motion compatibility and intuitiveness of the human–machine interface directly affect the quality of teleoperation. However, many motion capture methods require special working environments or need bulky mechanisms. In this research, we proposed a wearable, lightweight, and passive upper limb exoskeleton, which takes intuitiveness and human-machine compatibility as a major concern. The upper limb pose estimation and teleoperation mapping control methods based on the exoskeleton are also discussed. Experimental results showed that by the help of the upper limb exoskeleton, people can achieve most areas of the normal range of motion. The proposed mapping control methods were verified on a 14-DOF anthropomorphic manipulator and showed good performance in teleoperation tasks. |
| first_indexed | 2024-03-11T04:49:35Z |
| format | Article |
| id | doaj.art-f13e1c3a0bd74b33840b3cb65ac9fcdc |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T04:49:35Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-f13e1c3a0bd74b33840b3cb65ac9fcdc2023-11-17T20:08:38ZengMDPI AGMachines2075-17022023-03-0111444110.3390/machines11040441A Wearable Upper Limb Exoskeleton for Intuitive Teleoperation of Anthropomorphic ManipulatorsLiang Zhao0Tie Yang1Yang Yang2Peng Yu3State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110169, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110169, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110169, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110169, ChinaTeleoperation technology combines the strength and accuracy of robots with the perception and cognition abilities of human experts, allowing the robots to work as an avatar of the operator in dangerous environments. The motion compatibility and intuitiveness of the human–machine interface directly affect the quality of teleoperation. However, many motion capture methods require special working environments or need bulky mechanisms. In this research, we proposed a wearable, lightweight, and passive upper limb exoskeleton, which takes intuitiveness and human-machine compatibility as a major concern. The upper limb pose estimation and teleoperation mapping control methods based on the exoskeleton are also discussed. Experimental results showed that by the help of the upper limb exoskeleton, people can achieve most areas of the normal range of motion. The proposed mapping control methods were verified on a 14-DOF anthropomorphic manipulator and showed good performance in teleoperation tasks.https://www.mdpi.com/2075-1702/11/4/441exoskeletonsteleoperationhuman-robot interactionspherical scissor mechanism |
| spellingShingle | Liang Zhao Tie Yang Yang Yang Peng Yu A Wearable Upper Limb Exoskeleton for Intuitive Teleoperation of Anthropomorphic Manipulators Machines exoskeletons teleoperation human-robot interaction spherical scissor mechanism |
| title | A Wearable Upper Limb Exoskeleton for Intuitive Teleoperation of Anthropomorphic Manipulators |
| title_full | A Wearable Upper Limb Exoskeleton for Intuitive Teleoperation of Anthropomorphic Manipulators |
| title_fullStr | A Wearable Upper Limb Exoskeleton for Intuitive Teleoperation of Anthropomorphic Manipulators |
| title_full_unstemmed | A Wearable Upper Limb Exoskeleton for Intuitive Teleoperation of Anthropomorphic Manipulators |
| title_short | A Wearable Upper Limb Exoskeleton for Intuitive Teleoperation of Anthropomorphic Manipulators |
| title_sort | wearable upper limb exoskeleton for intuitive teleoperation of anthropomorphic manipulators |
| topic | exoskeletons teleoperation human-robot interaction spherical scissor mechanism |
| url | https://www.mdpi.com/2075-1702/11/4/441 |
| work_keys_str_mv | AT liangzhao awearableupperlimbexoskeletonforintuitiveteleoperationofanthropomorphicmanipulators AT tieyang awearableupperlimbexoskeletonforintuitiveteleoperationofanthropomorphicmanipulators AT yangyang awearableupperlimbexoskeletonforintuitiveteleoperationofanthropomorphicmanipulators AT pengyu awearableupperlimbexoskeletonforintuitiveteleoperationofanthropomorphicmanipulators AT liangzhao wearableupperlimbexoskeletonforintuitiveteleoperationofanthropomorphicmanipulators AT tieyang wearableupperlimbexoskeletonforintuitiveteleoperationofanthropomorphicmanipulators AT yangyang wearableupperlimbexoskeletonforintuitiveteleoperationofanthropomorphicmanipulators AT pengyu wearableupperlimbexoskeletonforintuitiveteleoperationofanthropomorphicmanipulators |