A Remote Motion Control Interface for CRS Robotic Manipulator

In this effort, we developed a wearable sensing and computing platform, consisting of a jacket with embedded sensors, a microcontroller, and a Wi-Fi chip, to allow a user to teleoperate the CRS A255 robotic manipulator through the manipulation of his/her arms. The designed system enables natural and intuitive human-robot interaction in contrast to traditional robot command and control interfaces, such as a teach-pendant. Specifically, strategically placed sensors allow our wearable robot command and control interfaces to exploit human motion commands for controlling the robot arm. The human motion commands are communicated wirelessly from the jacket to a robot controller C500C by using an ad hoc network structure for Wi-Fi communication. The efficacy of the designed wearable robot command and control interface is illustrated through a series of demonstration experiments.