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

• Autorzy: Mańkowski T. , Tomczyński J. , Kaczmarek P.
• 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

EN

dataglove; test bench; IMU; MARG; Universal Robots; UR3

• Wydawca: Wydawnictwo PAK
• Czasopismo: Measurement Automation Monitoring
• Rocznik: 2016
• Tom: Vol. 62, No. 5
• Strony: 178--180
• Opis fizyczny: Bibliogr. 5 poz., rys., schem., wykr.

Twórcy

autor

Mańkowski T.

• Poznan University of Technology, Institute of Control and Information Engineering, 3A Piotrowo St., 60-965 Poznań, Poland

autor

Tomczyński J.

• Poznan University of Technology, Institute of Control and Information Engineering, 3A Piotrowo St., 60-965 Poznań, Poland

autor

Kaczmarek P.

• 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.