Development and Implementation of an AI-Embedded and ROS-Compatible Smart Glove System in Human-Robot Interaction
Development and Implementation of an AI-Embedded and ROS-Compatible Smart Glove System in Human-Robot Interaction
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DOI：
10.1109/mass56207.2022.00103
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发表时间：
2022-10
期刊：
影响因子：
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通讯作者：
Laury Rodriguez;Zofia Przedworska;Omar Obidat;Jesse Parron;Weitian Wang
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文献类型：
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作者：
Laury Rodriguez;Zofia Przedworska;Omar Obidat;Jesse Parron;Weitian Wang
机器人技术在当今不断发展的市场中被广泛用于一系列任务。人机协作是不可避免的，这导致了对安全，无麻烦和易于生产的产品的需求。智能手套具有通过使用传感器收集关于其佩戴者的运动的数据的能力。基于此，本研究开发了一种嵌入人工智能并兼容操作系统的智能手套系统，以实现协作任务中的实时人机交互。为了让机器人能够智能地学习和预测新的人类意图进行人机交互，我们提出了一种基于极限学习机（ELM）的人类手势理解方法，该方法使用嵌入智能手套中的一组条形和力传感器的数据，并通过ROS有效地运行它。三个典型的基线姿态被变戏法ELM训练的目的，并送入算法附加标签和相应的传感器数据。所开发的系统和所提出的方法在现实世界中的人机协作任务的效率和成功进行了验证。这项工作还可以作为许多重要的机器人支持应用的催化剂，例如医疗保健和老年群体的日常援助。最后对今后的研究工作进行了展望。
Robotics technology is being widely used for an array of tasks in today's evolving markets. Human-robot collaboration is inevitable which leads to the need for safe, untroublesome, and easy-to-produce products. A smart glove has capabilities to collect data concerning its wearer's movements by the use of sensors. Motivated by this, in this study, we develop an AI-embedded and ROS-compatible smart glove system to realize real-time human-robot interaction in collaborative tasks. To allow the robot to intelligently learn and predict new human intentions for human-robot interaction, we propose an Extreme Learning Machine (ELM)-based human gesture understanding approach using the data from a set of strip and force sensors embedded in the smart glove and effectively run it through ROS. Three typical baseline gestures are conjured for ELM training purposes and fed into the algorithm with an appended label and corresponding sensor data. The developed system and proposed approach are validated in real-world human-robot collaborative tasks with efficiency and success. This work can also serve as a catalyst for the implementation of many important robot-supported applications such as healthcare and daily assistance for senior groups. Future work of this study is also discussed.