2024-03-29T06:44:45Z
https://tsukuba.repo.nii.ac.jp/oai
oai:tsukuba.repo.nii.ac.jp:00036554
2022-04-27T09:05:38Z
152:4858
3:62:5591:4857
Gestures for Manually Controlling a Helping Hand Robot
大澤, 博隆
Wongphati, Mahisorn
Osawa, Hirotaka
Imai, Michita
© Springer Science+Business Media Dordrecht 2015
The final publication is available at Springer via http://dx.doi.org/10.1007/s12369-015-0302-2
Helping hand robots have been the focus of a number of studies and have high potential in modern manufacturing processes and for use in daily living. As helping hand robots interact closely with users, it is important to find natural and intuitive user interfaces for interacting with the robots in various situations. This study describes a set of gestures for interacting with and controlling helping hand robots in situations in which users need to manually control the robot but both hands are not available, for example, when users are holding tools or objects in their hands. The gestures are derived from an experimental study that asked participants for gestures suitable for controlling primitive robot motions. The selected gestures can be used to control translation and orientation of an end effector of a helping hand robot when one or both hands are engaged with tasks. As an example for validating the proposed gestures, we implemented a helping hand robot system to perform a soldering task.
Springer Netherlands
2015-11
eng
journal article
http://hdl.handle.net/2241/00132928
https://tsukuba.repo.nii.ac.jp/records/36554
10.1007/s12369-015-0302-2
1875-4791
International Journal of Social Robotics
7
5
731
742
https://tsukuba.repo.nii.ac.jp/record/36554/files/IJSR_7-5.pdf
application/pdf
5.2 MB
2016-12-01