2016

paper

english

EN In this article, a method for kinematic configuration estimation of a structure similar to a human finger, is presented. The method is based on the EKF and a model reflecting kinematic constraints of a finger-like structure (2-DOF metacarpophalangeal joint, and one 1-DOF proximal interphalangeal rotational joint), using 3 low cost IMUs. During tests, the IMUs were attached to a 3D-printed setup equipped with encoders. The setup was fixed to the flange of a UR3 robotic arm. System accuracy and robustness was tested during various kinds of movement, including fast and slow movements in all joints (maximum angular rate of 550 deg/s), and simultaneous base rotation (up to 170 deg/s) and linear acceleration (up to 0.25 g). The obtained RMSE of estimated joint angle was 3.5 deg for all joints and all types of performed movements. In case of joint rotations around an axis parallel to gravity vector, RMSE of 4 deg was achieved.

552 - 557

10.1109/MFI.2016.7849546

https://ieeexplore.ieee.org/document/7849546

IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016) Kongresshaus Baden-Baden, Germany, Sep. 19-21, 2016

IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2016, 19-21.09.2016, Baden-Baden, Germany

WoS (15)