Master-slave system using Kinect and an industrial robot for teleoperations

Carlos A. Arango; Jose R. Martinez; Vera Z. Perez

doi:10.1109/PAHCE.2013.6568284

Master-slave system using Kinect and an industrial robot for teleoperations

Carlos A. Arango
, Jose R. Martinez
, Vera Z. Perez

Research output: Chapter in Book/Conference proceeding › Conference and proceedings › peer-review

12 Scopus citations

Abstract

In this paper, we report the integration of a Kinect sensor device with a robotic arm Kuka KR6 as a master-slave communication for applications of teleoperation and bioengineering. The Kinect device captures the position of the user's right hand, filters its resulting data and detects its movement using Haar wavelets. This data is then sent to the Kuka KR6 controller and it moves using forward kinematics. A series of tests were implemented to evaluate the accuracy of the slave system position compared to the user's right hand position using the Pearson correlation coefficient method. It resulted in a very strong correlation between them.

Original language	English
Title of host publication	2013 Pan American Health Care Exchanges, PAHCE 2013 - Conference, Workshops, and Exhibits. Cooperation / Linkages
Subtitle of host publication	An Independent Forum for Patient Care and Technology Support
DOIs	https://doi.org/10.1109/PAHCE.2013.6568284
State	Published - 2013
Event	8th Pan American Health Care Exchanges Conference, PAHCE 2013 - Medellin, Colombia Duration: 29 Apr 2013 → 4 May 2013

Publication series

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

Conference

Conference	8th Pan American Health Care Exchanges Conference, PAHCE 2013
Country/Territory	Colombia
City	Medellin
Period	29/04/13 → 4/05/13

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Human robot interaction
Kinect
Robot Control
Robot Kinematics
Telerobotics

Access to Document

10.1109/PAHCE.2013.6568284

Cite this

Arango, C. A., Martinez, J. R., & Perez, V. Z. (2013). Master-slave system using Kinect and an industrial robot for teleoperations. In 2013 Pan American Health Care Exchanges, PAHCE 2013 - Conference, Workshops, and Exhibits. Cooperation / Linkages: An Independent Forum for Patient Care and Technology Support Article 6568284 (Pan American Health Care Exchanges, PAHCE). https://doi.org/10.1109/PAHCE.2013.6568284

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title = "Master-slave system using Kinect and an industrial robot for teleoperations",

abstract = "In this paper, we report the integration of a Kinect sensor device with a robotic arm Kuka KR6 as a master-slave communication for applications of teleoperation and bioengineering. The Kinect device captures the position of the user's right hand, filters its resulting data and detects its movement using Haar wavelets. This data is then sent to the Kuka KR6 controller and it moves using forward kinematics. A series of tests were implemented to evaluate the accuracy of the slave system position compared to the user's right hand position using the Pearson correlation coefficient method. It resulted in a very strong correlation between them.",

keywords = "Human robot interaction, Kinect, Robot Control, Robot Kinematics, Telerobotics",

author = "Arango, \{Carlos A.\} and Martinez, \{Jose R.\} and Perez, \{Vera Z.\}",

year = "2013",

doi = "10.1109/PAHCE.2013.6568284",

language = "Ingl{\'e}s",

isbn = "9781467362559",

series = "Pan American Health Care Exchanges, PAHCE",

booktitle = "2013 Pan American Health Care Exchanges, PAHCE 2013 - Conference, Workshops, and Exhibits. Cooperation / Linkages",

note = "8th Pan American Health Care Exchanges Conference, PAHCE 2013 ; Conference date: 29-04-2013 Through 04-05-2013",

}

Arango, CA, Martinez, JR & Perez, VZ 2013, Master-slave system using Kinect and an industrial robot for teleoperations. in 2013 Pan American Health Care Exchanges, PAHCE 2013 - Conference, Workshops, and Exhibits. Cooperation / Linkages: An Independent Forum for Patient Care and Technology Support., 6568284, Pan American Health Care Exchanges, PAHCE, 8th Pan American Health Care Exchanges Conference, PAHCE 2013, Medellin, Colombia, 29/04/13. https://doi.org/10.1109/PAHCE.2013.6568284

Master-slave system using Kinect and an industrial robot for teleoperations. / Arango, Carlos A.; Martinez, Jose R.; Perez, Vera Z.
2013 Pan American Health Care Exchanges, PAHCE 2013 - Conference, Workshops, and Exhibits. Cooperation / Linkages: An Independent Forum for Patient Care and Technology Support. 2013. 6568284 (Pan American Health Care Exchanges, PAHCE).

Research output: Chapter in Book/Conference proceeding › Conference and proceedings › peer-review

TY - GEN

T1 - Master-slave system using Kinect and an industrial robot for teleoperations

AU - Arango, Carlos A.

AU - Martinez, Jose R.

AU - Perez, Vera Z.

PY - 2013

Y1 - 2013

N2 - In this paper, we report the integration of a Kinect sensor device with a robotic arm Kuka KR6 as a master-slave communication for applications of teleoperation and bioengineering. The Kinect device captures the position of the user's right hand, filters its resulting data and detects its movement using Haar wavelets. This data is then sent to the Kuka KR6 controller and it moves using forward kinematics. A series of tests were implemented to evaluate the accuracy of the slave system position compared to the user's right hand position using the Pearson correlation coefficient method. It resulted in a very strong correlation between them.

AB - In this paper, we report the integration of a Kinect sensor device with a robotic arm Kuka KR6 as a master-slave communication for applications of teleoperation and bioengineering. The Kinect device captures the position of the user's right hand, filters its resulting data and detects its movement using Haar wavelets. This data is then sent to the Kuka KR6 controller and it moves using forward kinematics. A series of tests were implemented to evaluate the accuracy of the slave system position compared to the user's right hand position using the Pearson correlation coefficient method. It resulted in a very strong correlation between them.

KW - Human robot interaction

KW - Kinect

KW - Robot Control

KW - Robot Kinematics

KW - Telerobotics

UR - https://www.scopus.com/pages/publications/84884322474

U2 - 10.1109/PAHCE.2013.6568284

DO - 10.1109/PAHCE.2013.6568284

M3 - Ponencia publicada en las memorias del evento con ISBN

AN - SCOPUS:84884322474

SN - 9781467362559

T3 - Pan American Health Care Exchanges, PAHCE

BT - 2013 Pan American Health Care Exchanges, PAHCE 2013 - Conference, Workshops, and Exhibits. Cooperation / Linkages

T2 - 8th Pan American Health Care Exchanges Conference, PAHCE 2013

Y2 - 29 April 2013 through 4 May 2013

ER -

Arango CA, Martinez JR, Perez VZ. Master-slave system using Kinect and an industrial robot for teleoperations. In 2013 Pan American Health Care Exchanges, PAHCE 2013 - Conference, Workshops, and Exhibits. Cooperation / Linkages: An Independent Forum for Patient Care and Technology Support. 2013. 6568284. (Pan American Health Care Exchanges, PAHCE). doi: 10.1109/PAHCE.2013.6568284

Master-slave system using Kinect and an industrial robot for teleoperations

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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