The use of IMU MEMS-sensors for designing of motion capture system for control of robotic objects

Abstract

Developed HMI is a system consisting of a set of sensors, placed in a special suit or item of clothing. Dressed in a special suit human operator is able to control mechatronic object in the distance. Mechatronic object (for example an anthropomorphic robot) imitates the motion of the human operator by performing the technological operations on removal. So, to do it motion sensors are installed in the body areas which are suitable to copy the human movements. Then the information from sensors is processed and going to a special unit which transmits control signals wirelessly to the control object. Human-machine interface is represented as a hardware and software suite. The hardware suite are INS (inertial modules attached to various body parts), the communication channel between the modules, processing channel and wireless data transmission modules on a desktop computer. INS contain three-axis MEMS gyroscope, accelerometer and magnetometer.