Robot; IMU; Human motion tracking; Programming by demonstration; upper limb
Abstract :
[en] Human-robot interactions (HRI) is an emerging paradigm that aims at combining complementary skills of robot and human. The meaningful human arm motion represent an interesting way of communication to explore with robot. IMUs appear as a simple, lightweight, easy-to-use, technology for human motion tracking compared to other systems such as opto-electronic devices. However, IMUs require important data treatement to reconstruct human motion and are usually coupled with a magnetometer or even other sensors. This paper explores a method only based on IMUs (accelerometer and gyroscope) to track human motion in order to keep the simplicity and robustness of IMUs in an industrial environnement with magnetic disturbances. The signal processing method presented here limit the well-known drift of the gyroscope by gravity measurement.
Disciplines :
Mechanical engineering
Author, co-author :
Pellois, Robin ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
Bruls, Olivier ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
Language :
English
Title :
Human arm motion tracking using IMU measurements in a robotic environnement
Publication date :
26 September 2018
Number of pages :
4
Event name :
the 21st IMEKO International Symposium on Measurements in Robotics ISMCR’2018