Markerless Human–Manipulator Interface Using Leap Motion With Interval Kalman Filter and Improved Particle Filter


The aim of this paper is to propose a completely unique markerless human-robot interface, that springs from the concept that the manipulator copies the movements of human hands. With this technique, one operator could management dual robots through each his or her hands in an exceedingly contactless and markerless atmosphere. So as to obtain the position and orientation of human hands in real time, a sensor referred to as leap motion (LM) is utilized in this paper. However, because of the tracking errors and noises of the sensor, the measurement errors increase with time. So, interval Kalman filter (IKF) and improved particle filter (IPF) are used to estimate the position and the orientation of the human hands, respectively. Furthermore, so as to avoid the perceptive limitations and also the motor limitations, that prevent the operator from winding up the high-precision experiment, a modification of adaptive multispace transformation (AMT) method is raised to help the operator to work out the posture of the manipulator. The greatest strength of our technique is that it is totally contactless and could estimate the create of the human hands accurately and stably while not any help from markers. A series of experiments have been conducted to verify the human-manipulator interface system, and the results show that the system is indeed of high availability and fault tolerance in teleoperation, which means even a novice can simply and successfully management robots with this human-manipulator interface.

Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here

PROJECT TITLE : Video Dissemination over Hybrid Cellular and Ad Hoc Networks - 2014 ABSTRACT: We study the problem of disseminating videos to mobile users by using a hybrid cellular and ad hoc network. In particular, we formulate
PROJECT TITLE : Security Analysis of Handover Key Management in 4G LTESAE Networks - 2014 ABSTRACT: The goal of 3GPP Long Term Evolution/System Architecture Evolution (LTE/SAE) is to move mobile cellular wireless technology
PROJECT TITLE : Secure and Efficient Data Transmission for Cluster-Based Wireless Sensor Networks - 2014 ABSTRACT: Secure data transmission is a critical issue for wireless sensor networks (WSNs). Clustering is an effective
PROJECT TITLE : PSR A Lightweight Proactive Source Routing Protocol For Mobile Ad Hoc Networks - 2014 ABSTRACT: Opportunistic data forwarding has drawn much attention in the research community of multihop wireless networking,
PROJECT TITLE : Joint Routing and Medium Access Control in Fixed Random Access Wireless Multihop Networks - 2014 ABSTRACT: We study cross-layer design in random-access-based fixed wireless multihop networks under a physical

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry