Abstract
In this paper we evaluate the accuracy of a contactless 6-DoF master device for a teleoperation platform. The master device is an optical tracking system, i.e. Leap Motion, capable of recognize and track the hand movements. A method to evaluate its accuracy by using a Qualisys motion capture system composed of 8 high-resolution cameras is proposed. In addition, the teleoperation control architecture is presented, where a torque-controlled robot is employed as the slave device, i.e. a 7-DoF Franka Emika robot. The results presented in this paper allow to validate the use of the Leap Motion as an accurate master device in a teleoperation chain while also to evaluate its operational limitations.
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Acknowledgements
This research was funded by the region ‘‘Nouvelle-Aquitaine’’ (program HABISAN 2015–2020) with the financial participation of the European Union (FEDER/ERDF, European Regional Development Fund). This work was also sponsored by the French government research program Investissements d’avenir through the Robotex Equipment of Excellence (ANR-10-EQPX-44).
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Sandoval, J., Laribi, M.A., Zeghloul, S. (2020). Validation of an Ergonomic Contactless Master Device for a Teleoperation Platform. In: Berns, K., Görges, D. (eds) Advances in Service and Industrial Robotics. RAAD 2019. Advances in Intelligent Systems and Computing, vol 980. Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_48
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DOI: https://doi.org/10.1007/978-3-030-19648-6_48
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