Teleoperation System for a Four-Dof Robot: Commands with Data Glove and Web Page

Abstract

In this paper is consigned the process of implementation and validation of a teleoperation system for a robot, through a sensorial data collector glove of the hands movements. Nowadays, there are various glove type dispositives with the task of register faithfully the movements of the hand articulations, but they are very high price. The proposed glove-web page is designed on a very low budget, and although is not thought to match the performance and functioning of the commercial gloves, we intend being able of easily replacing it. On one side, the glove is based on Flex resistive sensors of low cost, located on key anatomy points of the hand, in a way that it takes register of the DOF (Degrees of freedom) of it. On the other side, the web page is a simple HTML interface host by the Arduino controller board. In this paper it is shown, finally, an application of this kind over a PhantomX Pincher robot, where it is easy verified the utility of a data glove, by implementing an Ethernet communication between the controlling board and the PC commander unit. Finally, we obtained a satisfactory teleoperation system and more important, a very low-cost one compare to its pairs. From which it is remarkable the utilization of easy access dispositives, open-source software and the adequation of a preexisting glove system.