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A human–robot interface using particle filter, Kalman filter, and over-damping method

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Abstract

This paper presents a novel human–manipulator interface which copies the hand motion to control a manipulator. In the proposed interface, an inertial measurement unit is used to measure the orientation of the human hand, and a 3D camera is employed to locate the human hand using the Camshift algorithm. Although the position and the orientation of the human can be obtained from two sensors, the measurement errors increase over time due to the noise of the devices and the tracking errors. Therefore, particle filter and Kalman filter are used to estimate the position and the orientation of the human hand. Due to the limitations of the perceptive and the motor, human operator cannot accomplish the high-precision manipulation without any assistance. An over-damping method is employed to assist the operator to improve the accuracy and reliability in determining the postures of the manipulator. The human–manipulator interface system was experimentally tested in a lab environment, and the results indicate that such an interface can successfully control a robot manipulator even when the operator is not an expert.

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Acknowledgments

Project supported by “National Undergraduate Innovative and Entrepreneurial Training Program (No:201610561127)” and “National Natural Science Foundation of China (Grant No. 61403145)”.

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Authors and Affiliations

  1. School of Computer Science and Engineering, South China University of Technology, Guangzhou, People’s Republic of China

    Guanglong Du, Yingyi Lei, Hengkang Shao, Zhenfeng Xie & Ping Zhang

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  1. Guanglong Du
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  2. Yingyi Lei
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  3. Hengkang Shao
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  4. Zhenfeng Xie
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  5. Ping Zhang
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Correspondence to Ping Zhang.

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Du, G., Lei, Y., Shao, H. et al. A human–robot interface using particle filter, Kalman filter, and over-damping method. Intel Serv Robotics 9, 323–332 (2016). https://doi.org/10.1007/s11370-016-0202-9

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  • DOI: https://doi.org/10.1007/s11370-016-0202-9

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