Unobtrusive Tremor Detection While Gesture Controlling a Robotic Arm

Gesture based validation A light weight robotic arm (Jaco) has been interfaced with a novel gesture detection sensor (Leap Motion Controller), substituting complicated conventional input devices, i.e., joysticks and pads. Due to the enhanced precision and high throughput capabilities of the Leap Mot...

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Bibliographic Details
Published in:Journal of robotics and mechatronics 2015-02, Vol.27 (1), p.103-104
Main Authors: Güttler, Jörg, Bassily, Dany, Georgoulas, Christos, Linner, Thomas, Bock, Thomas
Format: Article
Language:English
Subjects:
Algorithms
Controllers
Human-computer interface
Input devices
Motion perception
Movement
Robot arms
Tremors
Weight reduction
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Summary:Gesture based validation A light weight robotic arm (Jaco) has been interfaced with a novel gesture detection sensor (Leap Motion Controller), substituting complicated conventional input devices, i.e., joysticks and pads. Due to the enhanced precision and high throughput capabilities of the Leap Motion Controller, the unobtrusive measurement of physiological tremor can be extracted. An algorithm was developed to constantly detect and indicate potential user hand tremor patterns in real-time. Additionally a calibration algorithm was developed to allow an optimum mapping between the user hand movement, tracked by the Leap Motion Controller, and the Jaco arm, by filtering unwanted oscillations, allowing for a more natural human-computer interaction.
ISSN:0915-3942
1883-8049
DOI:10.20965/jrm.2015.p0103