Online retargeting for multi-lateral teleoperation

摘要

Retargeting is a kind of mapping function between input of the master device and output of the slave robot. If the slave robot should conduct a teleoperation task like tele-surgery, operation in the space, operation in a dangerous place, the point of the end-effector becomes very important. In this paper, we have developed a retargeting system for teleoperation task, using data glove and vision sensor, and magnetic sensor. The system can sense motion and position of human wrist, hand motion including the fingers. With this system, the user can manipulate teleoperated robotic arm and robotic hand without any difficulties. The proposed system can provide intuitive and precise teleoperation mode. Also, hand gesture-based control mode was investigated using data glove.