Implementation of an Android based teleoperation application for controlling a KUKA-KR6 robot by using sensor fusion

Juan C. Yepes, Juan J. Yepes, Jose R. Martinez, Vera Z. Perez

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    19 Scopus citations

    Abstract

    Teleoperated systems have been used in diverse biomedical applications, from the rehabilitation of patients, the management of biological hazardous material and medication storage, to minimally invasive surgery. This paper, introduces an Android OS (operating system) based application that communicates with an industrial robot Kuka KR-6 through USB to Serial connection, to control it with the on-board accelerometers, and gyroscopes of a tablet or smartphone, intended to be used in telemedicine procedures. Arduino Uno microcontroller board, RS232 Shifter SMD and mobile device were used to develop this work. To evaluate this system a survey was done with engineering related users.

    Original languageEnglish
    Title of host publication2013 Pan American Health Care Exchanges, PAHCE 2013 - Conference, Workshops, and Exhibits. Cooperation / Linkages
    Subtitle of host publicationAn Independent Forum for Patient Care and Technology Support
    DOIs
    StatePublished - 2013
    Event8th Pan American Health Care Exchanges Conference, PAHCE 2013 - Medellin, Colombia
    Duration: 29 Apr 20134 May 2013

    Publication series

    NamePan American Health Care Exchanges, PAHCE
    ISSN (Print)2327-8161
    ISSN (Electronic)2327-817X

    Conference

    Conference8th Pan American Health Care Exchanges Conference, PAHCE 2013
    Country/TerritoryColombia
    CityMedellin
    Period29/04/134/05/13

    Keywords

    • Application software
    • Biohazards
    • Robot Control
    • Sensor fusion
    • Telemedicine

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