Human-Robot Interactive Systems for a 3 DOF Robotic-Arm

Human-Computer interactive systems designed to control a 3 Degree of Freedom Robotic Arm Contains a

• Glove based system: IMU SensorGlove
• Image Based Visual Servoing

Please Read Project Report for Mathematical Forumulation and Experimentation Details.

Hardware Requirements

Glove based system requires

Two IMU sensors, they are :

MPU 9250

Contains accelerometer, gyrometer and magnetometer in all 3 axis Data from these inbuilt sensors are run through a sensor fusion algorithm to obtain Euler Angles, yaw, pitch and roll. The sensor glove uses yaw and pitch values to actuate the Servo of the robotic arm. Use of magnetometer in this device solves the yaw drift that occurs in IMU. Mounted in the wrist region of a glove.

MPU 6050

Contains accelerometer and gyrometer in all 3 axis Data from these inbuilt sensors are run through a sensor fusion algorithm to obtain Euler Angles, pitch and roll. The sensor glove uses only pitch values to actuate the Servo of the robotic arm. It is mounted in the finger region of the glove.

Image Based Visual Servoing requires

A camera.

Data from the images obtained for every frame is passed through the algorithm to detect and track the 3D dimensional motion of handheld stick

Handheld stick with red-circular/ spherical notch.