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Modelling of a robot-arm for training in fencing sport

Abstract

Robots have several applications in different fields of nowadays life as in sports training-assistance. One of these sports is Fencing that is an individual duel Olympic sport using a bladed weapon. A typical fencer’s training consists of practicing different techniques. This practice is achieved through three training approaches that are not best utilized due to some constraints referred to humans’ nature and capabilities. The aim of this paper is to develop a robot-arm to be used in fencing training to overcome these constraints. This paper introduces a system for modelling fencing robot-arms using a fast and low-cost approach. The system estimates the angles values needed to drive a six degrees-of-freedom robot-arm that mimics a human-arm performing determined fencing movements. A simple and inexpensive system (Kinect) is applied for capturing the motions of the task and an Artificial Neural Networks model is used for transforming the captured motions into robot-arm movements through an inverse kinematics study. The proposed system was verified and validated, while the caused irregularities were referred to the changes in the lengths of the captured arm-segments and to the random error resulting from the depth measurement by Kinect using a single sensing camera.

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Correspondence to Asmaa Harfoush.

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Harfoush, A., Hossam, M. Modelling of a robot-arm for training in fencing sport. Int J Intell Robot Appl (2020). https://doi.org/10.1007/s41315-020-00116-5

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Keywords

  • Robot
  • Sports
  • Fencing robot-arm
  • Motion capture
  • Inverse kinematics
  • Artificial Neural Networks (ANN)