Hand/Arm Robot Teleoperation by Inertial Motion Capture

The multi-fingered robot hand has much attention in various fields. Many robot hands have been proposed so far and we have developed a hand/arm robot with universal robot hand II. A teleoperation system allows intuitive manipulation of the hand/arm robot. Here, a motion capture system of measuring human motion is used for operating the robot remotely. Various types of the human motion capture have been developed so far. This paper deals with a motion capture system with inertial measurement units (IMUs) and a hand/arm teleoperation with the inertial motion capture.