User wearable interface based on inertial sensors for unilateral master-slave robot teleoperation

In this work an interface based on inertial sensors with applications for unilateral master - slave robotic teleoperation is developed. In such tasks the interface with which the user interacts plays a key role. In general the interface should be comfortable and to allow free user motion. The interface here proposed is composed of two portable inertial sensor units which are placed on the upper and lower arm to obtain acceleration and turning rates. The data is internally processed by a DSP in the sensors which yield real time orientation measurements of the bodies they are attached. Then the 3D wrist human Cartesian trajectory is determined by using kinematic models of the human arm, this trajectory becomes the desired trajectory to the slave robot. Finally by means of a control technique the slave robot is capable to track wrist human movements. For validation purposes a master - slave teleoperation system is implemented with a three degree of freedom (dof) delta configuration parallel robot as slave system.