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Gesture-based robot control with variable autonomy from the JPL BioSleeve

Show simple item record Wolf, Michael T. Assad, Christopher Vernacchia, Matthew T. Fromm, Joshua Jethani, Henna L. 2014-01-21T17:24:35Z 2014-01-21T17:24:35Z 2013-05-06
dc.identifier.citation 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013 en_US
dc.identifier.clearanceno 13-0759
dc.description.abstract This paper presents a new gesture-based human interface for natural robot control. Detailed activity of the user’s hand and arm is acquired via a novel device, called the BioSleeve, which packages dry-contact surface electromyography (EMG) and an inertial measurement unit (IMU) into a sleeve worn on the forearm. The BioSleeve’s accompanying algorithms can reliably decode as many as sixteen discrete hand gestures and estimate the continuous orientation of the forearm. These gestures and positions are mapped to robot commands that, to varying degrees, integrate with the robot’s perception of its environment and its ability to complete tasks autonomously. This flexible approach enables, for example, supervisory point-to-goal commands, virtual joystick for guarded teleoperation, and high degree of freedom mimicked manipulation, all from a single device. The BioSleeve is meant for portable field use; unlike other gesture recognition systems, use of the BioSleeve for robot control is invariant to lighting conditions, occlusions, and the human–robot spatial relationship and does not encumber the user’s hands. The BioSleeve control approach has been implemented on three robot types, and we present proof-of-principle demonstrations with mobile ground robots, manipulation robots, and prosthetic hands. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2013 en_US
dc.subject BioSleeve en_US
dc.subject magnetometer en_US
dc.subject inertial measurement unit (IMU) en_US
dc.subject methods for gesture based robot control, en_US
dc.title Gesture-based robot control with variable autonomy from the JPL BioSleeve en_US
dc.type Preprint en_US

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