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http://dx.doi.org/10.5302/J.ICROS.2004.10.5.434

Teleoperated Control of a Mobile Robot Using an Exoskeleton-Type Motion Capturing Device Through Wireless Communication  

Jeon, Poong-Woo (충남대학교 메카트로닉스공학과)
Jung, Seul (충남대학교 메카트로닉스공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.5, 2004 , pp. 434-441 More about this Journal
Abstract
In this paper, an exoskeleton-type motion capturing system is designed and implemented. The device is designed to have 12 degree-of-freedom entirely to represent human arm motions. Forward and inverse kinematics of the device are analyzed to make sure of its singular positions. With the designed model parameters, simulation studies are conducted to verify that the designed motion capturing system is effective to represent human motions within the workspace. As a counterpart of the exoskeleton system, a mobile robot is built to follow human motion restrictively. Experimental studies of teleoperation from the exoskeleton device to control the mobile robot are carried out to show feasible application of wireless man-machine interface.
Keywords
exoskeleton robot; motion capturing device; teleoperated control; man-machine interface; boxing robot;
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Times Cited By KSCI : 1  (Citation Analysis)
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