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A Novel Multi-Modal Teleoperation of a Humanoid Assistive Robot with Real-Time Motion Mimic.
Cerón, Julio C; Sunny, Md Samiul Haque; Brahmi, Brahim; Mendez, Luis M; Fareh, Raouf; Ahmed, Helal Uddin; Rahman, Mohammad H.
Afiliação
  • Cerón JC; Mechatronics Engineering, Universidad Nacional de Colombia, Cra 45, Bogatá 111321, Colombia.
  • Sunny MSH; Computer Science, University of Wisconsin Milwaukee, Milwaukee, WI 53212, USA.
  • Brahmi B; Electrical Engineering, College Ahuntsic, Montreal, QC 9155, Canada.
  • Mendez LM; Mechatronics Engineering, Universidad Nacional de Colombia, Cra 45, Bogatá 111321, Colombia.
  • Fareh R; Electrical Engineering, University of Sharjah, University City, Sharjah 27272, United Arab Emirates.
  • Ahmed HU; Biorobotics Laboratory, Mechanical Engineering, University of Wisconsin Milwaukee, Milwaukee, WI 53212, USA.
  • Rahman MH; Computer Science, University of Wisconsin Milwaukee, Milwaukee, WI 53212, USA.
Micromachines (Basel) ; 14(2)2023 Feb 16.
Article em En | MEDLINE | ID: mdl-36838161
This research shows the development of a teleoperation system with an assistive robot (NAO) through a Kinect V2 sensor, a set of Meta Quest virtual reality glasses, and Nintendo Switch controllers (Joycons), with the use of the Robot Operating System (ROS) framework to implement the communication between devices. In this paper, two interchangeable operating models are proposed. An exclusive controller is used to control the robot's movement to perform assignments that require long-distance travel. Another teleoperation protocol uses the skeleton joints information readings by the Kinect sensor, the orientation of the Meta Quest, and the button press and thumbstick movements of the Joycons to control the arm joints and head of the assistive robot, and its movement in a limited area. They give image feedback to the operator in the VR glasses in a first-person perspective and retrieve the user's voice to be spoken by the assistive robot. Results are promising and can be used for educational and therapeutic purposes.
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Texto completo: 1 Coleções: 01-internacional Base de dados: MEDLINE Tipo de estudo: Guideline Idioma: En Revista: Micromachines (Basel) Ano de publicação: 2023 Tipo de documento: Article País de afiliação: Colômbia País de publicação: Suíça
Texto completo
Adicionar na Minha BVS
Imprimir
XML
PubMed Links
Buscar no Google

Texto completo: 1 Coleções: 01-internacional Base de dados: MEDLINE Tipo de estudo: Guideline Idioma: En Revista: Micromachines (Basel) Ano de publicação: 2023 Tipo de documento: Article País de afiliação: Colômbia País de publicação: Suíça