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Underwater Human Arm Manipulator – System Calibration

Babiarz Artur, Bieda Robert, Grzejszczak Tomasz, Jaskot Krzysztof, Kozyra Andrzej, Ściegienka Piotr

Advances in Science and Technology. Research Journal

2024

Vol. 18, no 2

36--46

Controlling a remotely operated underwater vehicle (ROV) is an extremely challenging task that requires precise maneuvering and navigation in complex and often unpredictable environments. The operator faces numerous difficulties, including limited visibility and communication constraints, and the need to interpret data from various sensors. This paper describes a method for calibration of a wearable system equipped with inertial measurement unit (IMU) sensors that control the underwater manipulators. To implement a solution that allows the robot to be controlled by the operator's hand movements, it is necessary to measure the movement of the arm. This task is carried out using the IMU sensors, which are mounted in appropriate places on the ROV operator's suit to allow mapping the movement of his/her upper limbs. These movements are transferred to the manipulator's arms on the ROV, making it possible to interact with the environment by - manipulating objects under-water.

Tracking of dynamic gesture fingertips positionin video sequence

Grzejszczak Tomasz, Molle Reinhard, Roth Robert

Archives of Control Sciences

2020

Vol. 30, No. 1

101--122

The field of research of this paper combines Human Computer Interface, gesture recognition and fingertips tracking. Most gesture recognition algorithms processing color images are unable to locate folded fingers hidden inside hand contour. With use of hand landmarks detection and localization algorithm, processing directional images, the fingertips are tracked whether they are risen or folded inside the hand contour. The capabilities of the method, repeatibility and accuracy, are tested with use of 3 gestures that are recorded on the USB camera. Fingertips are tracked in gestures presenting a linear movement of an open hand, finger folding into fist and clenched fist movement. In conclusion, a discussion of accuracy in application to HCI is presented.