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

Producción científica: Capítulo del libro/informe/acta de congreso › Ponencia publicada en las memorias del evento con ISBN › revisión exhaustiva

11 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	2013 Pan American Health Care Exchanges, PAHCE 2013 - Conference, Workshops, and Exhibits. Cooperation / Linkages
Subtítulo de la publicación alojada	An Independent Forum for Patient Care and Technology Support
DOI	https://doi.org/10.1109/PAHCE.2013.6568284
Estado	Publicada - 2013
Evento	8th Pan American Health Care Exchanges Conference, PAHCE 2013 - Medellin, Colombia Duración: 29 abr. 2013 → 4 may. 2013

Serie de la publicación

Nombre	Pan American Health Care Exchanges, PAHCE
ISSN (versión impresa)	2327-8161
ISSN (versión digital)	2327-817X

Conferencia

Conferencia	8th Pan American Health Care Exchanges Conference, PAHCE 2013
País/Territorio	Colombia
Ciudad	Medellin
Período	29/04/13 → 4/05/13

ODS de las Naciones Unidas

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10.1109/PAHCE.2013.6568284

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Arango, C. A., Martinez, J. R., & Perez, V. Z. (2013). Master-slave system using Kinect and an industrial robot for teleoperations. En 2013 Pan American Health Care Exchanges, PAHCE 2013 - Conference, Workshops, and Exhibits. Cooperation / Linkages: An Independent Forum for Patient Care and Technology Support Artículo 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.}",

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doi = "10.1109/PAHCE.2013.6568284",

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

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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",

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Arango, CA, Martinez, JR & Perez, VZ 2013, Master-slave system using Kinect and an industrial robot for teleoperations. En 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Ponencia publicada en las memorias del evento con ISBN › revisión exhaustiva

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

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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. En 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

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