| Autor: |
Wan Azlan, Wan Norliyana, Wan Zakaria, Wan Nurshazwani, Othman, Nurmiza, Mohd, Mohd Norzali Haji |
| Předmět: |
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| Zdroj: |
AIP Conference Proceedings; 2023, Vol. 2564 Issue 1, p1-10, 10p |
| Abstrakt: |
Hand gesture-controlled robotic arm is designed to improve the motor function of hemiplegic patients. In this paper, the Leap Motion sensor is the device utilized to collect data for hand gesture recognition. Therapists suggested a combination of wrist revolving rehabilitation exercises that can also be recognized by the Leap Motion sensor, which are: radial-ulnar deviation, flexion-extension, and grasping-releasing of the palm. This study focuses on the EMU HS4 3-DOF robotic arm usage to enable the robot in imitating the hemiplegic patient hand gesture movements. The Leap Motion sensor detects the patient's functioning hand over the USB bus and sends data to the Leap Motion service on the host PC. Information is processed and sent to a running Leap-enabled application, Processing. Received data undergoes algorithm in Processing, and data is sent to Arduino IDE to move the robot motors as the output according to the hand input given. Normalization of hand, motor, and robot angle positions is crucial in standardizing the collected data. Three test subjects with healthy hands and of different gender and age commit the experiment to validate the system. The experimental results yield three training sessions with three sets of trials for each training. The average Leap Motion sensor and robot position output readings for the three training are recorded and analyzed. As a result, the robot gripper action obeys the desired grab strength by 100%. The yaw and pitch deviations show an RMSE of 3.31 degrees and 3.98 degrees respectively. This system has many potentials for future development and advancement, such as a 6-DOF robot arm implementation that can cater to the pronation and supination movements of the wrist. Also, hemiplegia patients should test on the system to contribute better feedback data and advise on improving the training sessions. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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