Fig 2 - uploaded by Fabio Stroppa
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(a) Motion capture marker layout on the operator's upper body. (b) Commands used to control the robot based on direction of movement. (c) The original reference system is transformed to be aligned with the plane where the markers CH1, CH2, and ABD lie, with origin at CH1.
Source publication
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be challenging to teleoperate due to their unique degrees of freedom. In this paper, we propose a human-centered interface...
Contexts in source publication
Context 1
... motion capture setup includes six lightweight-lineardetector cameras monitoring seven active LED markers placed on the forearm and the chest of the operator. The gestures are tracked in real time at 270 Hz. As shown in Fig. 2(a), the Body Interface exploits four markers on the operator's forearm for gesture recognition (two on the elbow EL1 and EL2, two on the wrist WR1 and WR2), and three on the operator's chest to create a body centered reference system (CH1, CH2, and ...
Context 2
... specific mapping between the gestures and commands can be customized based on the application. Fig. 2(b) shows one proposed mapping, used to control a soft robot hanging from the ceiling and growing in the direction of gravity. Moving the forearm above and below the operator's transverse plane (forearm flexion/extension) will make the robot retract and grow, respectively; whereas all the movements parallel to the transverse plane are ...
Context 3
... Reference System Alignment: In order to properly retrieve the data, the GIT needs to define a body centered reference system. The three chest markers allow the operator to be aligned to the motion capture reference system, resulting in an interface that is independent of the operator's pose in space. As shown in Fig. 2(c), the frame defined by the calibration of the Motion Capture system x MC , y MC , z MC is transformed into the reference system of the operator x OP , y OP , z OP , such that the coordinates of the markers are expressed with reference to the latter. In particular, CH1, The soft robot during the manipulation task, moving a block to a ...
Context 4
... motion capture setup includes six lightweight-lineardetector cameras monitoring seven active LED markers placed on the forearm and the chest of the operator. The gestures are tracked in real time at 270 Hz. As shown in Fig. 2(a), the Body Interface exploits four markers on the operator's forearm for gesture recognition (two on the elbow EL1 and EL2, two on the wrist WR1 and WR2), and three on the operator's chest to create a body centered reference system (CH1, CH2, and ...
Context 5
... specific mapping between the gestures and commands can be customized based on the application. Fig. 2(b) shows one proposed mapping, used to control a soft robot hanging from the ceiling and growing in the direction of gravity. Moving the forearm above and below the operator's transverse plane (forearm flexion/extension) will make the robot retract and grow, respectively; whereas all the movements parallel to the transverse plane are ...
Context 6
... Reference System Alignment: In order to properly retrieve the data, the GIT needs to define a body centered reference system. The three chest markers allow the operator to be aligned to the motion capture reference system, resulting in an interface that is independent of the operator's pose in space. As shown in Fig. 2(c), the frame defined by the calibration of the Motion Capture system x MC , y MC , z MC is transformed into the reference system of the operator x OP , y OP , z OP , such that the coordinates of the markers are expressed with reference to the latter. In particular, CH1, The soft robot during the manipulation task, moving a block to a ...
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