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Tytuł artykułu

A test bench setup with programmable trajectory for IMU-based dataglove development

Treść / Zawartość
Identyfikatory
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
This paper presents a test bench created during development of an IMU-based dataglove. The system allows gathering synchronised hand phantom posture and trajectory, together with inertial sensor data for evaluation of posture recognition algorithms. The setup includes an inertial measurement system, with IMU modules designed to be mounted on human hand or a phantom, together with proper embedded firmware and PC software. The system uses a collaborative Universal Robots UR3 robot arm for generation of trajectories and as a source of ground truth data. The program used to control the robot together with a method of gathered data synchronisation are described. The test bench has been successfully used during development of a joint angles estimating algorithm.
Słowa kluczowe
Wydawca
Rocznik
Strony
178--180
Opis fizyczny
Bibliogr. 5 poz., rys., schem., wykr.
Twórcy
  • Poznan University of Technology, Institute of Control and Information Engineering, 3A Piotrowo St., 60-965 Poznań, Poland
  • Poznan University of Technology, Institute of Control and Information Engineering, 3A Piotrowo St., 60-965 Poznań, Poland
autor
  • Poznan University of Technology, Institute of Control and Information Engineering, 3A Piotrowo St., 60-965 Poznań, Poland
Bibliografia
  • [1] da Silva A. F.; Goncalves A. F.; Mendes P. M.; Correia J. H.: FBG Sensing Glove for Monitoring Hand Posture. Sensors Journal, IEEE, vol. 11, no.10, pp. 2442-2448, 2011.
  • [2] http://www.cyberglovesystems.com/cyberglove-ii/
  • [3] http://synertial.com/products/
  • [4] Santaera G.; Luberto E.; Serio A.; Gabiccini M.; Bicchi A.: Low-cost, fast and accurate reconstruction of robotic and human postures via IMU measurements. In Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp. 2728-2735, 2015.
  • [5] Dipietro L.; Sabatini A. M.; Dario P.: A Survey of Glove-Based Systems and Their Applications. In Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on, vol. 38, no. 4, pp.461-482, 2008.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-abd40eb6-e717-4675-bf34-2ca069e5ae85
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