The Research Of Human-robot Interaction Technology Based On Hybrid Sensors

Research on human robot interaction technology is long-standing, but a very bigdevelopment space still exists in the practical application of the human-robot interactiontechnique. The earliest human robot interaction methods were realized through the mouse,keyboard and other contact interfaces, these methods were mechanized. With the developmentof the sensor technology, human robot interaction methods varied and the human robotinteraction methods that based on vision or speech have become the mainstream.But the human robot interaction methods with single sensor are limited to the sensing range,which is easy to cause the insufficient telepresence of the operator, lead to theunnatural human robot interaction. In recent years, though the emergence of human robotinteraction methods based on the wearable devices can greatly enhance the telepresence ofthe operator, the expensive equipment and the human body bound makes these interactionmethods unextended in wide range. Therefore, the design of a natural, universal human robotinteraction method is very important.This paper presents a human-robot interaction method based on hybrid sensor, whichrealizes the natural interaction between human and the robot. The main interaction work isshowed below:1)use the depth camera to obtain the3D human-hand position data and use theinertial measurement unit to obtain the3D human-hand orientation data;2) use theKalman Filter algorithm to solve the random interference and noise in the raw collected data;3) improve the stability of the human-hand data with the over-damped theory;4) build theDescartes space mapping relationship between human and the robot according to thecharacteristics of human hand and the robot.