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

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.