Abstract
Recent technological developments in motion tracking technology have lowered the price of motioncapture devices to the extent that nearly anyone can accurately model the dimensions and movement of the human body. The system described herein was the result of an attempt to capitalize on the aforementioned low-cost motion-capture technology to develop an accurate human-robot interface which relies on translating natural forelimb movement into servo actuation commands to control a robotic arm. Given that most endeavors into robotics are interdisciplinary, this work incorporates input from electrical engineering, mechanical engineering, computer science, and human-robot interface design. This system was specifically designed, in cooperation with NASA, to be used by an operator in a low-gravity environment, but the number of possible applications are substantial. These applications include, but are not limited to, military explosive ordnance disposal, remote maintenance in hostile environments, and safe exploration into hazardous environments.
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