A test bench setup with programmable trajectory for IMU-based dataglove development

Tomasz Mańkowski; Jakub Tomczyński; Piotr Kaczmarek

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Title

A test bench setup with programmable trajectory for IMU-based dataglove development

Authors

Tomasz Mańkowski (WE) ^{[ 1 ][ P ]}
Jakub Tomczyński (WE) ^{[ 2 ][ D ]}
Piotr Kaczmarek (WE) ^{[ 1 ][ P ]}

^{[ 1 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ 2 ]} Wydział Elektryczny, Politechnika Poznańska | ^{[ P ]} employee | ^{[ D ]} phd student

Year of publication

2016

Published in

Measurement Automation Monitoring

Journal year: 2016 | Journal volume: vol. 62 | Journal number: no. 5

Article type

scientific article

Publication language

english

Keywords

EN

dataglove
test bench
IMU
MARG
Universal Robots
UR3

Abstract

EN This paper presents a test bench created during development of an IMU-based dataglove. The system allows gathering synchronised hand phantom posture and trajectory, together with inertial sensor data for evaluation of posture recognition algorithms. The setup includes an inertial measurement system, with IMU modules designed to be mounted on human hand or a phantom, together with proper embedded firmware and PC software. The system uses a collaborative Universal Robots UR3 robot arm for generation of trajectories and as a source of ground truth data. The program used to control the robot together with a method of gathered data synchronisation are described. The test bench has been successfully used during development of a joint angles estimating algorithm.

Pages (from - to)

178 - 180

Ministry points / journal

11

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