[1]张国亮,王展妮,刘勇,等.LMC在机器人交互操作应用领域新进展[J].华侨大学学报(自然科学版),2018,39(3):317-323.[doi:10.11830/ISSN.1000-5013.201610052]
 ZHANG Guoliang,WANG Zhanni,LIU Yong,et al.New Progress in Application of LMC on Human-Robot Interactive Operation[J].Journal of Huaqiao University(Natural Science),2018,39(3):317-323.[doi:10.11830/ISSN.1000-5013.201610052]
点击复制

LMC在机器人交互操作应用领域新进展()
分享到:

《华侨大学学报(自然科学版)》[ISSN:1000-5013/CN:35-1079/N]

卷:
第39卷
期数:
2018年第3期
页码:
317-323
栏目:
出版日期:
2018-05-20

文章信息/Info

Title:
New Progress in Application of LMC on Human-Robot Interactive Operation
文章编号:
1000-5013(2018)03-0317-07
作者:
张国亮 王展妮 刘勇 张泽 丁培
华侨大学 计算机科学与技术学院, 福建 厦门 361021
Author(s):
ZHANG Guoliang WANG ZhanniLIU Yong ZHANG Ze DING Pei
College of Computer Science and Technology, Huaqiao University, Xiamen 361021, China
关键词:
手势运动检测器 人机交互 自然用户接口 医疗康复
Keywords:
leap motion controller human robot interaction natural user interface medical rehabilitation
分类号:
TP242
DOI:
10.11830/ISSN.1000-5013.201610052
文献标志码:
A
摘要:
以手势运动检测器(LMC)为研究对象,分别从机器人-人接口(HRI)人机交互的发展、LMC的传感方式、定位精度及手势接口特性等多个角度,详细阐述LMC的相关理论与技术.通过系统地梳理近3年LMC在HRI应用中的最新进展,对当前亟需解决的问题进行详细地分析,指出其应用中存在的不足,并总结今后发展的趋势.
Abstract:
Leap motion controller(LMC)as the research object, is investigated in detail from the perspective of the human-robot interfaces(HRI)development, sensing principle, positioning accuracy and gesture interface. Related theory and technology is presented. Then, the application of LMC on HRI is systematically studied in detail for recent three years and some urgent problem is analyzed. Finally, the development of LMC for HRI in the future is summarized.

参考文献/References:

[1] CHO K B,LEE B H.Intelligent lead: A novel HRI sensor for guide robots[J].Sensors,2012,12(6):8301-8318.DOI:10.3390/s120608301.
[2] STOYANOV T,LOULOUDI A,ANDREASSON H,et al.Comparative evaluation of range sensor accuracy in indoor environments[C]//Proceedings of the European Conference on Mobile Robots.Orebro:Elsevier,2013:1094-1105.
[3] FRANK W,DANIEL B,BARTHOLOM R,et al.Analysis of the accuracy and robustness of the leap motion controller[J].Sensors,2013,13(5):6380-6393.DOI:10.3390/s130506380.
[4] KHOSHELHAM K,ELBERINK S O.Accuracy and resolution of kinect depth data for indoor mapping applications[J].Sensors,2012,12(2):1437-1454.DOI:10.3390/s120201437.
[5] GUNA J,GREGA J,MATEV? P,et al.An analysis of the precision and reliability of the leap motion sensor and its suitability for static and dynamic tracking[J].Sensors,2014,14(2):3702-3720.DOI:10.3390/s140203702.
[6] NORMAN D A,NIELSEN J.Gestural interfaces: A step backward in usability[J].Interactions,2010,17(5):46-49.
[7] NACENTA M A,KAMBER Y,QIANG Y,et al.Memorability of pre-designed and user-defined gesture sets[C]//Proceedings of the SIGCHI Conference on Human Factors in Computing Systems.Paris:ACM,2013:1099-1108.
[8] SHI Fei,CAO Qixin,LENG Chuantao,et al.Based on force sensing-controlled human-machine interaction system for walking assistant robot[J].Intelligent Control and Automation,2010,20(1):6528-6533.DOI:10.1109/WCICA.2010.5554167.
[9] CHANG Mingfang,MOU Weihao,LIAO Chenke,et al.Design and implementation of an active robotic walker for Parkinson’s patients[C]//Proceedings of SICE Annual Conference.Akita:Society of Instrument and Control Engineers,2012:2068-2073.
[10] RENTSCHLER A J,SIMPSON R,COOPER R A,et al.Clinical evaluation of Guido robotic walker[J].Journal of Rehabilitation Research and Development,2008,45(9):45-52.DOI:10.1682/JRRD.2007.10.0160.
[11] PATEL M,MIRO J V,DISSANAYAKE G.A hierarchical hidden markov model to support activities of daily living with an assistive robotic walker[C]//IEEE Ras and Embs International Conference on Biomedical Robotics and Biomechatronics.Rome:IEEE Press,2012:1071-1076.DOI:10.1109/BioRob.2012.6290936.
[12] BASSILY D,GEORGOULAS C,GUETTLER J,et al.Intuitive and adaptive robotic arm manipulation using the leap motion controller[C]//International Symposium on Robotics.Munich:VDE-Verlag,2014:78-85.
[13] JOAO P,PEIXOTO P,NUNES U.A novel vision-based human-machine interface for a robotic walker framework[C]//IEEE International Symposium on Robot and Human Interactive Communication.Kobe:IEEE Press,2015:134-139.DOI:10.1109/ROMAN.2015.7333590.
[14] SUCAR L E,ORIHUELA-ESPINA F,VELAZQUEZ R L,et al.Gesture therapy: An upper limb virtual reality-based motor rehabilitation platform[J].IEEE Transactions on Neural Systems and Rehabilitation Engineering,2014,22(3):634-643.DOI:10.1109/TNSRE.2013.2293673.
[15] KLAMROTH-MARGANSKA V,BLANCO J,CAMPEN K,et al.Three-dimensional, task-specific robot therapy of the arm after stroke: A multicentre, parallel-group randomised trial[J].Lancet Neurol,2014,13(2):159-166.DOI:10.1016/S1474-4422(13)70305-3.
[16] YU Ningbo,WANG Kui,LIU Jingtai.Dexterous haptic interaction for functional rehabilitation and assessment of the upper limb[C]//IEEE International Conference on Robotics and Biomimetics.Bali:IEEE Press,2014:1351-1355.DOI:10.1109/ROBIO.2014.7090521.
[17] YU Ningbo,XU Chang,LI Huanshuai,et al.Fusion of haptic and gesture sensors for rehabilitation of bimanual coordination and dexterous manipulation[J].Sensors,2016,16(3):395-415.DOI:10.3390/s16030395.
[18] 常宝,覃宏荣,张占国,等.15例达芬奇机器人辅助腹腔镜肝切除术的手术配合[J].护理学报,2016,23(2):60-62.DOI:10.16460/j.issn1008-9969.2016.02.060.
[19] HAGN U,KONIETSCHKE R,TOBERGTE A,et al.DLR MiroSurge: A versatile system for research in endoscopic telesurgery[J].International Journal of Computer Assisted Radiology and Surgery,2009,5(2):183-193.DOI:10.1007/s11548-009-0372-4.
[20] LUM M J H,FRIEDMAN D C W,SANKARANARAYANAN G,et al.The RAVEN: Design and validation of a telesurgery system[J].International Journal of Robotics Research,2009,28(9):1183-1197.DOI:10.1177/0278364909101795.
[21] DESPINOY F,SANCHEZ A,ZEMITI N,et al.Comparative assessment of a novel optical human-machine interface for laparoscopic telesurgery[C]//Processing in Computer-Assisted Interventions.New York:Springer,2014:21-30.DOI:10.1007/978-3-319-07521-1_3.
[22] KIM Y,LEONARD S,SHADEMAN A,et al.Kinect technology for hand tracking control of surgical robots: Technical and surgical skill comparison to current robotic masters[J].Surg Endosc,2014,28(6):1993-2000.DOI:10.1007/s00464-013-3383-8.
[23] VARGAS H,VIVAS O.Gesture recognition system for surgical robot’s manipulation[C]//Symposium on Image, Signal Processing and Artificial Vision.[S.l.]:IEEE Press,2014:1-5.DOI:10.1109/STSIVA.2014.7010172.
[24] DRAGAN A D,SRINIVASA S S,LEE K C T.Teleoperation with intelligent and customizable interfaces[J].Journal of Human-Robot Interaction,2013,2(2):33-57.DOI:10.5898/JHRI.2.2.Dragan.
[25] DU Guanglong,ZHANG Ping,MAI Jianhua,et al.Markerless kinect-based hand tracking for robot teleoperation[J].International Journal of Advanced Robotic Systems,2012,9(1):36-46.DOI:10.5772/50093.
[26] OIKONOMIDIS I,KYRIAZIS N,ARGYROS A A.Tracking the articulated motion of two strongly interacting hands[C]//IEEE Conference of Computer Vision and Pattern Recognition.Washington D C:IEEE Press,2012:1862-1869.
[27] YONJAE K,PETER C,KIM W,et al.Experimental evaluation of contact-less hand tracking systems for tele-operation of surgical tasks[C]//IEEE International Conference on Robotics and Automation.Hong Kong:IEEE Press,2014:3502-3509.DOI:10.1109/ICRA.2014.6907364.
[28] TRAVAGLINI T A,SWANEY P J,KYAL D W,et al.Initial experiments with the leap motion as a user interface in robotic endonasal surgery[C]//Proceedings of the 4th IFToMM International Symposium on Robotics and Mechatronics.Poitiers:Kluwer Academic,2016:171-180.
[29] KIM R A,ZAKARIA N F,ZULKIFLEY M A,et al.Telepointer technology in telemedicine: A review[J].Biomedical Engineering Online,2013,12(1):1-19.DOI:10.1186/1475-925X-12-21.
[30] SANFILIPPO F,HATLEDAL L I,ZHANG H,et al.JOpenShowVar: An open-source cross-platform communication interface to Kuka robots[C]//IEEE International Conference of Information and Automation.Hailar:IEEE Press,2014:1154-1159.DOI:10.1109/ICInfA.2014.6932823.
[31] LORENZO P,FILIPPO B,CARLO A A,et al.Immersive ROS-integrated framework for robot teleoperation[C]//IEEE Symposium on 3D User Interfaces.Arles:IEEE Press,2015:177-178.DOI:10.1109/3DUI.2015.7131758.
[32] BASSILY D,GEORGOULAS C,GUETTLER J,et al.Intuitive and adaptive robotic arm manipulation using the leap motion controller[C]//ISR/Robotik 41st International Symposium on Robotics.Munich:VDE-Verlag,2014:1-7.
[33] LIU Yukang,ZHANG Yuming.Toward welding robot with human knowledge: A remotely-controlled approach[J].IEEE Transactions on Automation Science and Engineering,2015,12(2):769-775.DOI:10.1109/TASE.2014.2359006.
[34] HUANG Ning,CHEN Shujun,ZHANG Yuming.Machine assisted manual torch operation in gas tungsten arc welding process[C]//IEEE International Conference on Advanced Intelligent Mechatronics.Busan:IEEE Press,2015:1478-1482.DOI:10.1109/AIM.2015.7222750.
[35] ALMEIDA L,PATRAO B,MENEZES P,et al.Be the robot: Human embodiment in tele-operation driving tasks[C]//IEEE International Symposium on Robot and Human Interactive Communication.Edinburgh:IEEE Press,2014:477-482.DOI:10.1109/ROMAN.2014.6926298.
[36] LGOR Z,GRANOSIK G.Using integrated vision systems: Three gears and leap motion to control a 3-finger dexterous gripper[J].Advances in Intelligent Systems and Computing,2014,267:553-562.DOI:10.1007/978-3-319-05353-0_52.
[37] FUTOSHI K,KOUKI O,FUMIO K.Robot-human handover based on position and posture of human hand[C]//International Symposium on Advanced Intelligent Systems.Kitakyushu:IEEE Press,2014:918-922.
[38] WEICHERT F,BACHMANN D,RUDAK B,et al.Analysis of the accuracy and robustness of the leap motion controller[J].Sensors,2013,13(5):6380-6393.
[39] STURMAN M M,VAILLANCOURT D E,CORCOS D.Effects of aging on the regularity of physiologicaltremor[J].Journal of Neurophysiology,2005,93(6):3064-3074.
[40] LO G,SURESH A R,STOCCO L,et al.A wireless sensor system for motion analysis of Parkinson’s disease patients[C]//IEEE International Conference on Pervasive Computing and Communications Workshops.Seattle:IEEE Press,2011:372-375.
[41] KIM J,GONZALEZ D A,MINTZ A,et al.Motor control assessment using leap motion: Filtering methods and performance in indoor and outdoor environments[C]//World Congress on Medical Physics and Biomedical Engineering.Toronto:Springer,2015:1150-1155.
[42] DU Guanglong,ZHANG Ping.A markerless human-robot interface using particle filter and Kalman filter for dual robots[J].IEEE Transactions on Industrial Electronics,2015,62(4):2257-2264.
[43] ZHANG Ping,LI Bei,DU Guanglong.An adaptive human-robot system using CMAC and over damping[C]//IEEE International Conference on Cyber Technology in Automation.Shenyang:IEEE Press,2015:835-840.
[44] MUNOZ L M,CASALS A.Improving the human-robot interface through adaptive multispace transformation[J].IEEE Transactions on Robotics,2009,25(5):1208-1213.
[45] ZHANG Ping,LIU Xin,DU Guanglong,et al.A markerless human-manipulators interface using multi-sensors[J].Industrial Robot,2015,42(6):544-553.

备注/Memo

备注/Memo:
收稿日期: 2016-10-30
通信作者: 张国亮(1978-),男,副教授,博士,主要从事机器人视觉伺服、机器人遥操作的研究.E-mail:zgl0227@sina.com.
基金项目: 国家自然科学基金资助项目(61403150); 高校新世纪优秀人才项目(NCET-10-0117); 福建省高校杰出青年计划项目(JA10006); 福建省自然科学基金资助项目(2016J01302)
更新日期/Last Update: 2018-05-20