Hybrid filters and feedback mechanism for wearable-based human-manipulator interface

• Published in: Industrial robot Vol. 42; no. 5; pp. 485 - 495
• Main Authors: Zhang, Ping, Li, Bei, Du, Guanglong
• Format: Journal Article
• Language: English
• Published: Bedford Emerald Group Publishing Limited 17.08.2015
• Subjects: Accuracy; Calibration; Engineering; Error analysis; Error detection; Feedback; Industrial engineering, design & manufacturing; Interfaces; Kalman filters; Manipulators; Noise; Operators; Posture; Random variables; Robots; Sample variance; Sensors; Watches; Wearable watch; Interval adaptive Kalman filter; Adaptive multispace transformation; Teleoperation; Human-manipulator interface; Sensors; Over damping method; Unscented Kalman filter; Robotics
• ISSN: 0143-991X; 1758-5791
• DOI: 10.1108/IR-04-2015-0065

Purpose – This paper aims to develop a wearable-based human-manipulator interface which integrates the interval Kalman filter (IKF), unscented Kalman filter (UKF), over damping method (ODM) and adaptive multispace transformation (AMT) to perform immersive human-manipulator interaction by interacting the natural and continuous motion of the human operator’s hand with the robot manipulator. Design/methodology/approach – The interface requires that a wearable watch is tightly worn on the operator’s hand to track the continuous movements of the operator’s hand. Nevertheless, the measurement errors generated by the sensor error and tracking failure signicantly occur several times, which means that the measurement is not determined with sufficient accuracy. Due to this fact, IKF and UKF are used to compensate for the noisy and incomplete measurements, and ODM is established to eliminate the influence of the error signals like data jitter. Furthermore, to be subject to the inherent perceptive limitations of the human operator and the motor, AMT that focuses on a secondary treatment is also introduced. Findings – Experimental studies on the GOOGOL GRB3016 robot show that such a wearable-based interface that incorporates the feedback mechanism and hybrid filters can operate the robot manipulator more flexibly and advantageously even if the operator is nonprofessional; the feedback mechanism introduced here can successfully assist in improving the performance of the interface. Originality/value – The interface uses one wearable watch to simultaneously track the orientation and position of the operator’s hand; it is not only avoids problems of occlusion, identification and limited operating space, but also realizes a kind of two-way human-manipulator interaction, a feedback mechanism can be triggered in the watch to reflect the system states in real time. Furthermore, the interface gets rid of the synchronization question in posture estimation, as hybrid filters work independently to compensate the noisy measurements respectively.