Task-orientated robot teleoperation using wearable IMUs

Abstract

This paper introduces a robot teleoperation system using the human hand motion captured from IMU systems, and the evaluation of the performances based on user tests. In the system, with properly defined task scenarios and suitable initial hand posture for comfortable operation, the captured hand motion is mapped into the robot end-effector motion based on a simplified mapping function with adaptive parameters for different users. Experimental teleoperation testing on grasping tasks shows the efficiency of the system. Users can quickly adapt to the system and use such system for teleoperation with stable and smooth motion outputs. The testing also helps in addressing the directions to make improvements in developing such system in future.