Detection and Tele-replication of Human Hand Motions by a Robotic Hand

Lucian Milea; Monica Dascalu; Eduard Franti; Suzana Cismas; Doina Moraru; Florin Lazo; Elteto Zoltan

doi:doi:10.11648/j.ajae.20150204.11

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Detection and Tele-replication of Human Hand Motions by a Robotic Hand

Lucian Milea, Monica Dascalu, Eduard Franti, Suzana Cismas, Doina Moraru, Florin Lazo, Elteto Zoltan

Published in American Journal of Aerospace Engineering (Volume 2, Issue 4)

Received: 9 September 2015 Accepted: 10 October 2015 Published: 23 October 2015

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Abstract

This paper presents a tele-operated robotic hand controlled by replication of human hand motions and is focused on the description of technical solutions for detection and tele-replication of movements, in order to control a robotic hand. The purpose of such research is justified by the need of high precision human controlled operations in special environments. The system is based on a flex sensors set with processing units and has as effectors a robotic arm and an anthropomorphic hand. The current article displays the modality of achieving an anthropomorphic robotic arm capable of efficiently handling objects of different sizes. In order to implement and test the technical and computing solutions, the authors have used a commercial product as experimental platform and improved it both in its mechanical structure and in its command and control system. For implementing the motion algorithms of the robotic arm, a method was developed for decoding arm movements performed by a human operator. To this end, bending sensors placed at the human operator’s joints (shoulder, elbow, wrist and fingers) were used. Signals collected from the sensors during the realization of these different movements by the human operator were decoded, processed and implemented in the drive system corresponding to the anthropomorphic robotic arm. In this regard, all sets of complex movements by the human arm operator were duplicated and implemented in the anthropomorphic robotic arm. The results obtained in handling various objects by means of using the anthropomorphic robotic arm have certified the effectiveness of this method.

Published in	American Journal of Aerospace Engineering (Volume 2, Issue 4)
DOI	10.11648/j.ajae.20150204.11
Page(s)	30-35
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2015. Published by Science Publishing Group

Keywords

Robotic Hand, Robotic Arm, Flex Sensors, Motion Replication

References

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[2]	K.S. Hale, K.M. Stanney, Handbook of Virtual Environments: Design, Implementation, and Applications, 2nd Edition, CRC Press 2014, ISBN-10: 1466511842, ISBN-13: 978-1466511842.
[3]	Leeper, A. E., Hsiao, K., Ciocarlie, M., Takayama, L., & Gossow, D. (2012), Strategies for human-in-the-loop robotic grasping, In Proceedings of the ieee/acm international conference on human-robot interaction, http://dx.doi.org/10.1145/2157689.2157691.
[4]	Paravati, G., Sanna, A., Lamberti, F., & Celozzi, C. (2011, September), A reconfigurable multi-touch framework for teleoperation tasks, in Emerging technologies and factory automation, http://dx.doi.org/10.1109/ETFA.2011.6059219.
[5]	Donghui Zhao, Xianfeng Chen, Kaiming Zhou, Lin Zhang, Ian Bennion, William N. MacPherson, James S. Barton, Julian D. C. Jones, Bend sensors with direction recognition based on long-period gratings written in D-shaped fiber, Applied Optics Vol. 43, Issue 29, pp. 5425-5428 (2004) doi: 10.1364/AO.43.005425.
[6]	Daniel Roetenberg, Henk Luinge, and Per Slycke, Xsens MVN: Full 6DOF Human Motion Tracking Using Miniature Inertial Sensors, Xsens Motion Technologies BV (2009), https://www.xsens.com/wp-content/uploads/2013/12/MVN_white_paper1.pdf.
[7]	L.E. Dunne, B. Smyth, B. Caulfield, A Comparative Evaluation of Bend Sensors for Wearable Applications, 2007 11th IEEE International Symposium on Wearable Computers, Boston MA USA, pp. 121-122, ISBN: 978-1-4244-1452-9, DOI: 10.1109/ISWC.2007.4373797.
[8]	Digi-Key Electronics, Spectra Symbol Flex Sensors, media.digikey.com/pdf/Data%20Sheets/Spectra%20Symbol/FS%20Series%20Flex%20Sensor.pdf.
[9]	E. Franti, G. Stefan, P. Schiopu, T. Boros, Anca Plavitu, Intelligent Control System for Artificial Arms Configuration, in Proceedings of The 5th EUROPEAN COMPUTING CONFERENCE (ECC '11), pag 312 - 316.
[10]	E. Franti, G. Stefan, P. Schiopu, M. Teodorescu , Modular Software for for Artificial Arms Design, in Proceedingsof the International Conference on Automatic Control, Modelling & Simulation (ACMOS’11), Lanzarote, Spania, 27.05.2011 – 29.05.2011, pag. 387 – 391.

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APA Style

Lucian Milea, Monica Dascalu, Eduard Franti, Suzana Cismas, Doina Moraru, et al. (2015). Detection and Tele-replication of Human Hand Motions by a Robotic Hand. American Journal of Aerospace Engineering, 2(4), 30-35. https://doi.org/10.11648/j.ajae.20150204.11

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ACS Style

Lucian Milea; Monica Dascalu; Eduard Franti; Suzana Cismas; Doina Moraru, et al. Detection and Tele-replication of Human Hand Motions by a Robotic Hand. Am. J. Aerosp. Eng. 2015, 2(4), 30-35. doi: 10.11648/j.ajae.20150204.11

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AMA Style

Lucian Milea, Monica Dascalu, Eduard Franti, Suzana Cismas, Doina Moraru, et al. Detection and Tele-replication of Human Hand Motions by a Robotic Hand. Am J Aerosp Eng. 2015;2(4):30-35. doi: 10.11648/j.ajae.20150204.11

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@article{10.11648/j.ajae.20150204.11,
  author = {Lucian Milea and Monica Dascalu and Eduard Franti and Suzana Cismas and Doina Moraru and Florin Lazo and Elteto Zoltan},
  title = {Detection and Tele-replication of Human Hand Motions by a Robotic Hand},
  journal = {American Journal of Aerospace Engineering},
  volume = {2},
  number = {4},
  pages = {30-35},
  doi = {10.11648/j.ajae.20150204.11},
  url = {https://doi.org/10.11648/j.ajae.20150204.11},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ajae.20150204.11},
  abstract = {This paper presents a tele-operated robotic hand controlled by replication of human hand motions and is focused on the description of technical solutions for detection and tele-replication of movements, in order to control a robotic hand. The purpose of such research is justified by the need of high precision human controlled operations in special environments. The system is based on a flex sensors set with processing units and has as effectors a robotic arm and an anthropomorphic hand. The current article displays the modality of achieving an anthropomorphic robotic arm capable of efficiently handling objects of different sizes. In order to implement and test the technical and computing solutions, the authors have used a commercial product as experimental platform and improved it both in its mechanical structure and in its command and control system. For implementing the motion algorithms of the robotic arm, a method was developed for decoding arm movements performed by a human operator. To this end, bending sensors placed at the human operator’s joints (shoulder, elbow, wrist and fingers) were used. Signals collected from the sensors during the realization of these different movements by the human operator were decoded, processed and implemented in the drive system corresponding to the anthropomorphic robotic arm. In this regard, all sets of complex movements by the human arm operator were duplicated and implemented in the anthropomorphic robotic arm. The results obtained in handling various objects by means of using the anthropomorphic robotic arm have certified the effectiveness of this method.},
 year = {2015}
}

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TY  - JOUR
T1  - Detection and Tele-replication of Human Hand Motions by a Robotic Hand
AU  - Lucian Milea
AU  - Monica Dascalu
AU  - Eduard Franti
AU  - Suzana Cismas
AU  - Doina Moraru
AU  - Florin Lazo
AU  - Elteto Zoltan
Y1  - 2015/10/23
PY  - 2015
N1  - https://doi.org/10.11648/j.ajae.20150204.11
DO  - 10.11648/j.ajae.20150204.11
T2  - American Journal of Aerospace Engineering
JF  - American Journal of Aerospace Engineering
JO  - American Journal of Aerospace Engineering
SP  - 30
EP  - 35
PB  - Science Publishing Group
SN  - 2376-4821
UR  - https://doi.org/10.11648/j.ajae.20150204.11
AB  - This paper presents a tele-operated robotic hand controlled by replication of human hand motions and is focused on the description of technical solutions for detection and tele-replication of movements, in order to control a robotic hand. The purpose of such research is justified by the need of high precision human controlled operations in special environments. The system is based on a flex sensors set with processing units and has as effectors a robotic arm and an anthropomorphic hand. The current article displays the modality of achieving an anthropomorphic robotic arm capable of efficiently handling objects of different sizes. In order to implement and test the technical and computing solutions, the authors have used a commercial product as experimental platform and improved it both in its mechanical structure and in its command and control system. For implementing the motion algorithms of the robotic arm, a method was developed for decoding arm movements performed by a human operator. To this end, bending sensors placed at the human operator’s joints (shoulder, elbow, wrist and fingers) were used. Signals collected from the sensors during the realization of these different movements by the human operator were decoded, processed and implemented in the drive system corresponding to the anthropomorphic robotic arm. In this regard, all sets of complex movements by the human arm operator were duplicated and implemented in the anthropomorphic robotic arm. The results obtained in handling various objects by means of using the anthropomorphic robotic arm have certified the effectiveness of this method.
VL  - 2
IS  - 4
ER  -

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Author Information

Lucian Milea

Solaris Consult S.R.L., Bucharest, Romania
Monica Dascalu

Centre for New Electronic Architecture, Research Institute for Artificial Intelligence, Bucharest, Romania
Eduard Franti

Centre for New Electronic Architecture, Research Institute for Artificial Intelligence, Bucharest, Romania
Suzana Cismas

Department of Biotechnology, University of Agricultural Sciences and Veterinary Medicine, Bucharest, Romania
Doina Moraru

Solaris Consult S.R.L., Bucharest, Romania
Florin Lazo

Centre for New Electronic Architecture, Research Institute for Artificial Intelligence, Bucharest, Romania
Elteto Zoltan

Centre for New Electronic Architecture, Research Institute for Artificial Intelligence, Bucharest, Romania

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Plain Text BibTeX RIS

APA Style

Lucian Milea, Monica Dascalu, Eduard Franti, Suzana Cismas, Doina Moraru, et al. (2015). Detection and Tele-replication of Human Hand Motions by a Robotic Hand. American Journal of Aerospace Engineering, 2(4), 30-35. https://doi.org/10.11648/j.ajae.20150204.11

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ACS Style

Lucian Milea; Monica Dascalu; Eduard Franti; Suzana Cismas; Doina Moraru, et al. Detection and Tele-replication of Human Hand Motions by a Robotic Hand. Am. J. Aerosp. Eng. 2015, 2(4), 30-35. doi: 10.11648/j.ajae.20150204.11

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AMA Style

Lucian Milea, Monica Dascalu, Eduard Franti, Suzana Cismas, Doina Moraru, et al. Detection and Tele-replication of Human Hand Motions by a Robotic Hand. Am J Aerosp Eng. 2015;2(4):30-35. doi: 10.11648/j.ajae.20150204.11

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@article{10.11648/j.ajae.20150204.11,
  author = {Lucian Milea and Monica Dascalu and Eduard Franti and Suzana Cismas and Doina Moraru and Florin Lazo and Elteto Zoltan},
  title = {Detection and Tele-replication of Human Hand Motions by a Robotic Hand},
  journal = {American Journal of Aerospace Engineering},
  volume = {2},
  number = {4},
  pages = {30-35},
  doi = {10.11648/j.ajae.20150204.11},
  url = {https://doi.org/10.11648/j.ajae.20150204.11},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ajae.20150204.11},
  abstract = {This paper presents a tele-operated robotic hand controlled by replication of human hand motions and is focused on the description of technical solutions for detection and tele-replication of movements, in order to control a robotic hand. The purpose of such research is justified by the need of high precision human controlled operations in special environments. The system is based on a flex sensors set with processing units and has as effectors a robotic arm and an anthropomorphic hand. The current article displays the modality of achieving an anthropomorphic robotic arm capable of efficiently handling objects of different sizes. In order to implement and test the technical and computing solutions, the authors have used a commercial product as experimental platform and improved it both in its mechanical structure and in its command and control system. For implementing the motion algorithms of the robotic arm, a method was developed for decoding arm movements performed by a human operator. To this end, bending sensors placed at the human operator’s joints (shoulder, elbow, wrist and fingers) were used. Signals collected from the sensors during the realization of these different movements by the human operator were decoded, processed and implemented in the drive system corresponding to the anthropomorphic robotic arm. In this regard, all sets of complex movements by the human arm operator were duplicated and implemented in the anthropomorphic robotic arm. The results obtained in handling various objects by means of using the anthropomorphic robotic arm have certified the effectiveness of this method.},
 year = {2015}
}

Copy | Download

TY  - JOUR
T1  - Detection and Tele-replication of Human Hand Motions by a Robotic Hand
AU  - Lucian Milea
AU  - Monica Dascalu
AU  - Eduard Franti
AU  - Suzana Cismas
AU  - Doina Moraru
AU  - Florin Lazo
AU  - Elteto Zoltan
Y1  - 2015/10/23
PY  - 2015
N1  - https://doi.org/10.11648/j.ajae.20150204.11
DO  - 10.11648/j.ajae.20150204.11
T2  - American Journal of Aerospace Engineering
JF  - American Journal of Aerospace Engineering
JO  - American Journal of Aerospace Engineering
SP  - 30
EP  - 35
PB  - Science Publishing Group
SN  - 2376-4821
UR  - https://doi.org/10.11648/j.ajae.20150204.11
AB  - This paper presents a tele-operated robotic hand controlled by replication of human hand motions and is focused on the description of technical solutions for detection and tele-replication of movements, in order to control a robotic hand. The purpose of such research is justified by the need of high precision human controlled operations in special environments. The system is based on a flex sensors set with processing units and has as effectors a robotic arm and an anthropomorphic hand. The current article displays the modality of achieving an anthropomorphic robotic arm capable of efficiently handling objects of different sizes. In order to implement and test the technical and computing solutions, the authors have used a commercial product as experimental platform and improved it both in its mechanical structure and in its command and control system. For implementing the motion algorithms of the robotic arm, a method was developed for decoding arm movements performed by a human operator. To this end, bending sensors placed at the human operator’s joints (shoulder, elbow, wrist and fingers) were used. Signals collected from the sensors during the realization of these different movements by the human operator were decoded, processed and implemented in the drive system corresponding to the anthropomorphic robotic arm. In this regard, all sets of complex movements by the human arm operator were duplicated and implemented in the anthropomorphic robotic arm. The results obtained in handling various objects by means of using the anthropomorphic robotic arm have certified the effectiveness of this method.
VL  - 2
IS  - 4
ER  -

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