Natural Human-Robot Interface Using Adaptive Tracking System with the Unscented Kalman Filter

作者：Du, Guanglong; Yao, Gengcheng; Li, Chunquan^*; Liu, Peter X.

来源：IEEE Transactions on Human-Machine Systems, 2020, 50(1): 42-54.

DOI：10.1109/THMS.2019.2947576

• Adaptive tracking
• adaptive velocity control (AVC)
• human-robot interface
• leap motion (LM)
• unscented Kalman filter (UKF)

Traditional human-robot interfaces usually have limitations in accuracy andor operational space. This article proposes a natural human-robot interface using an adaptive tracking method, which can effectively expand the operational space while ensuring high accuracy. The natural interface allows the robot to directly reproduce the users hand movement, making the interaction more intuitive and natural. The leap motion is fixed on the Cartesian platform to capture the movement of the users hand. Because the Cartesian platform follows the hand and keeps the hand in the center of the detection area, the measurement accuracy is improved and the measurement space can be extended. During the process of acquiring gesture data, the measurement errors were found to increase over time because of the inherent noise of the sensor. To deal with this problem, the unscented Kalman filter is applied to estimate the position of the hand. Moreover, an adaptive velocity control method is proposed to improve the operation accuracy and reduce the task execution time with the consideration of users' habits and easiness of usage. The effectiveness of this interface is verified by a series of experiments, and the results show that the proposed interface can be used by nonprofessional users for object operation tasks and can provide users with superior interactive experiences.

• 单位
  5; 南昌大学; 1; 6