Hand Gesture Interface for Robot Path Definition in Collaborative Applications: Implementation and Comparative Study

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F23%3A10252328" target="_blank" >RIV/61989100:27230/23:10252328 - isvavai.cz</a>

Result on the web

<a href="https://www.mdpi.com/1424-8220/23/9/4219" target="_blank" >https://www.mdpi.com/1424-8220/23/9/4219</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/s23094219" target="_blank" >10.3390/s23094219</a>

Result language

angličtina

Original language name

Hand Gesture Interface for Robot Path Definition in Collaborative Applications: Implementation and Comparative Study

Original language description

The article explores the possibilities of using hand gestures as a control interface for robotic systems in a collaborative workspace. The development of hand gesture control interfaces has become increasingly important in everyday life as well as professional contexts such as manufacturing processes. We present a system designed to facilitate collaboration between humans and robots in manufacturing processes that require frequent revisions of the robot path and that allows direct definition of the waypoints, which differentiates our system from the existing ones. We introduce a novel and intuitive approach to human-robot cooperation through the use of simple gestures. As part of a robotic workspace, a proposed interface was developed and implemented utilising three RGB-D sensors for monitoring the operator&apos;s hand movements within the workspace. The system employs distributed data processing through multiple Jetson Nano units, with each unit processing data from a single camera. MediaPipe solution is utilised to localise the hand landmarks in the RGB image, enabling gesture recognition. We compare the conventional methods of defining robot trajectories with their developed gesture-based system through an experiment with 20 volunteers. The experiment involved verification of the system under realistic conditions in a real workspace closely resembling the intended industrial application. Data collected during the experiment included both objective and subjective parameters. The results indicate that the gesture-based interface enables users to define a given path objectively faster than conventional methods. We critically analyse the features and limitations of the developed system and suggest directions for future research. Overall, the experimental results indicate the usefulness of the developed system as it can speed up the definition of the robot&apos;s path.

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/EF17_049%2F0008425" target="_blank" >EF17_049/0008425: A Research Platform focused on Industry 4.0 and Robotics in Ostrava Agglomeration</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Sensors

ISSN

1424-3210

e-ISSN

1424-8220

Volume of the periodical

23

Issue of the periodical within the volume

9

Country of publishing house

CH - SWITZERLAND

Number of pages

21

Pages from-to

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UT code for WoS article

000987781900001

EID of the result in the Scopus database

2-s2.0-85159281770