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Teleoperation of Robonaut Using Finger TrackingWith the advent of new finger tracking systems, the idea of a more expressive and intuitive user interface is being explored and implemented. One practical application for this new kind of interface is that of teleoperating a robot. For humanoid robots, a finger tracking interface is required due to the level of complexity in a human-like hand, where a joystick isn't accurate. Moreover, for some tasks, using one's own hands allows the user to communicate their intentions more effectively than other input. The purpose of this project was to develop a natural user interface for someone to teleoperate a robot that is elsewhere. Specifically, this was designed to control Robonaut on the international space station to do tasks too dangerous and/or too trivial for human astronauts. This interface was developed by integrating and modifying 3Gear's software, which includes a library of gestures and the ability to track hands. The end result is an interface in which the user can manipulate objects in real time in the user interface. then, the information is relayed to a simulator, the stand in for Robonaut, at a slight delay.
Document ID
20150005471
Acquisition Source
Jet Propulsion Laboratory
Document Type
Other
External Source(s)
Authors
Champoux, Rachel G.
(University of Southern Maine Portland, ME, United States)
Luo, Victor
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
April 10, 2015
Publication Date
August 1, 2012
Subject Category
Man/System Technology And Life Support
Cybernetics, Artificial Intelligence And Robotics
Distribution Limits
Public
Copyright
Other
Keywords
robotics
roboaut
near human-like dexterity

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