Hardware Design of a Wearable System for Gesture-Based Teleoperation of a Robotic Manipulator

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dc.contributor.advisorAkin, Daviden_US
dc.contributor.authorBuchholz, Brooke Teresaen_US
dc.contributor.departmentAerospace Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2007-06-22T05:39:57Z
dc.date.available2007-06-22T05:39:57Z
dc.date.issued2007-06-05
dc.description.abstractTo overcome some of the difficulties of robotic teleoperation using hand controllers, a new approach is necessary, namely gesture-based control. A review of sensors currently in use for human joint angle measurement is presented. Based on this review, a method was chosen that uses a variable-length fiber optic sensor. Several different types of optical fibers, along with a variety of test configurations, were initially evaluated, and the most promising of these were selected for further testing. This thesis describes these methods of evaluation and the final system design and testing of a wearable system for gesture-based control of a robotic manipulator, including a discussion of sensor placement to obtain improved results. The final system presented requires improvements and continued research to become usable for robotic control. However, the basic concept and design are shown to provide reliable information regarding relative human joint motion.en_US
dc.format.extent3347522 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/7017
dc.language.isoen_US
dc.subject.pqcontrolledEngineering, Roboticsen_US
dc.subject.pqcontrolledEngineering, Aerospaceen_US
dc.subject.pqcontrolledEngineering, Electronics and Electricalen_US
dc.subject.pquncontrolledroboten_US
dc.subject.pquncontrolledcontrolen_US
dc.subject.pquncontrolledgestureen_US
dc.subject.pquncontrolledteleoperationen_US
dc.subject.pquncontrolledfiber opticen_US
dc.titleHardware Design of a Wearable System for Gesture-Based Teleoperation of a Robotic Manipulatoren_US
dc.typeThesisen_US

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