Mapping Human To Robot Motion With Functional Anthropomorphism For Teleoperation and Telemanipulation With Robot Arm Hand Systems

2013 IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS)

November 3-7, 2013. Tokyo, Japan
Mapping Human to Robot Motion with Functional Anthropomorphism

for Teleoperation and Telemanipulation with Robot Arm Hand Systems
Minas V. Liarokapis, Panagiotis K. Artemiadis and Kostas J. Kyriakopoulos
Abstract— In this paper teleoperation and telemanipulation In order to capture human arm kinematics the Liberty
with a robot arm (Mitsubishi PA-10) and a robot hand (Polhemus Inc.) magnetic motion capture system is used.
(DLR/HIT 2) is performed, using a human to robot motion Two sensors are placed on the human elbow, and wrist
mapping scheme that guarantees anthropomorphism. Two po-
sition trackers are used to capture position and orientation of respectively. The human hand kinematics are captured with
human end-effector (wrist) and human elbow in 3D space and a the CyberGlove II (Cyberglove Systems) dataglove, which
dataglove to capture human hand kinematics. Then the inverse has 22 sensors measuring all joint values of all fingers.
kinematics (IK) of the Mitsubishi PA-10 7-DoF robot arm are The low-cost force feedback device is based on RGB
solved in an analytical manner, in order for the human’s and LEDs and vibration motors to provide visual feedback
the robot artifact’s end-effectors to achieve same position and
orientation in 3D space (functional constraint). Redundancy is (through color alternations) and vibrotactile feedback respec-
handled in the solution space of the robot arm’s IK, selecting tively, as described in [2]. In order to map human to robot
the most anthropomorphic solution computed, with a criterion arm motion we used a forward-inverse kinematics approach
of “Functional Anthropomorphism”. Human hand motion is computing the analytical IK of Mitsubishi PA-10 robot arm
transformed to robot hand motion using the joint-to-joint using the IKFast library of the OpenRAVE simulation envi-
mapping methodology. Finally in order for the user to be able
to detect contact and “perceive” the forces exerted by the robot ronment [3]. Redundancy is handled selecting the solution
hand, a low-cost force feedback device, that provides a mixture that minimizes the structural dissimilarity between human
of sensory information (visual and vibrotactile), was developed. and robot arm configurations. This solution leads to a robot
arm configuration for which the sum of distances between
I. I NTRODUCTION the human elbow and all robot joint positions, becomes
Over the last fifty years mapping human to robot motion minimum. Human hand motion is mapped to robot hand
was one of the major problems in Robotics. Recently an- motion, using the joint-to-joint mapping methodology [4].
thropomorphism became a necessity for social (e.g., robot III. C ONCLUSIONS AND D ISCUSSION
likeability) and safety reasons (e.g., safety in human robot
The efficacy of the proposed methods is experimentally
interaction applications). In this paper we perform an exper-
validated. The paradigms involve different movements in
imental validation of the human to robot motion mapping
3D space, as well as manipulation tasks executed by the
scheme that we proposed in [1], which guarantees specific
user with everyday life objects. The accompanying video
functional constraints (e.g. same position and orientation for
validates our claims and discusses methods and results in
human and robot end-effectors) and optimizes anthropomor-
detail. Regarding future directions the authors plan to use
phism of robot motion, minimizing structural dissimilarity
the proposed human to robot motion mapping scheme with
between human and robot configurations.
the whole robot arm hand system, as described in [5]. The
II. A PPARATUS AND M ETHODS HD version of the video can be found at the following url:
The robots that we use in this study are, the Mitsubishi PA- http://www.youtube.com/watch?v=Gm-JAzd8F-w
10 anthropomorphic robotic manipulator, which has seven R EFERENCES
rotational DoFs and the DLR/HIT 2 five fingered robot hand, [1] M. V. Liarokapis, P. K. Artemiadis, and K. J. Kyriakopoulos, “Func-
which has five kinematically identical fingers with three tional anthropomorphism for human to robot motion mapping,” in
DoFs per finger (two DoFs for flexion/extension and one 21st IEEE International Symposium on Robot and Human Interactive
Communication (RO-MAN), Sept. 2012, pp. 31–36.
DoF for abduction/adduction). More details regarding the [2] M. V. Liarokapis, P. K. Artemiadis, and K. J. Kyriakopoulos, “Tele-
Mitsubishi PA-10 and the DLR/HIT 2, can be found in [1]. manipulation with the DLR/HIT II robot hand using a dataglove and
a low cost force feedback device,” in IEEE Mediterranean Conference
Minas V. Liarokapis and Kostas J. Kyriakopoulos are with the Control on Control and Automation (MED), June 2013.
Systems Lab, School of Mechanical Engineering, National Technical Uni- [3] R. Diankov and J. Kuffner, “Openrave: A planning architecture for
versity of Athens, 9 Heroon Polytechniou Str, Athens, 15780, Greece. Email: autonomous robotics,” Robotics Institute, Pittsburgh, PA, Tech. Rep.
mliaro| kkyria @mail.ntua.gr CMU-RI-TR-08-34, July 2008.
Panagiotis K. Artemiadis is with the ASU Human-Oriented Robotics and [4] M. Ciocarlie, C. Goldfeder, and P. Allen, “Dimensionality reduction
Control (HORC) Lab, School for Engineering of Matter, Transport and for hand-independent dexterous robotic grasping,” in IEEE/RSJ Inter-
Energy, Ira A. Fulton Schools of Engineering, Arizona State University, national Conference on Intelligent Robots and Systems (IROS), 2007,
501 E. Tyler Mall, ECG 301, Tempe, AZ 85287-6106, USA. Email: pp. 3270–3275.
[email protected] [5] M. V. Liarokapis, P. K. Artemiadis, K. J. Kyriakopoulos, and E. S.
This work has been partially supported by the European Commission Manolakos, “A learning scheme for reach to grasp movements: On
with the Integrated Project no. 248587, THE Hand Embodied, within the EMG-based interfaces using task specific motion decoding models,”
FP7-ICT-2009-4-2-1 program Cognitive Systems and Robotics. IEEE Journal of Biomedical and Health Informatics (J-BHI), 2013.
978-1-4673-6358-7/13/$31.00 ©2013 IEEE 2075
Authorized licensed use limited to: Mapua University. Downloaded on December 04,2022 at 15:00:53 UTC from IEEE Xplore. Restrictions apply.

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2013 IEEE/RSJ International Conference on

Intelligent Robots and Systems (IROS)

Mapping Human to Robot Motion with Functional Anthropomorphism

978-1-4673-6358-7/13/$31.00 ©2013 IEEE 2075

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