Upper Extremity Motion-Based Telemanipulation with Component-Wise Rescaling of Spatial Twist and Parameter-Invariant Skeletal Kinematics

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Abstract
This study introduces a framework to improve upper extremity motion-based telemanipulation by component-wise rescaling (CWR) of spatial twist. This method allows for separate adjustments of linear and angular scaling parameters, significantly improving precision and dexterity even when the operator’s heading direction changes. By finely controlling both the linear and angular velocities independently, the CWR method enables more accurate telemanipulation in tasks requiring diverse speed and accuracy based on personal preferences or task-specific demands. The study conducted experiments confirming that operators could precisely control the robot gripper with a steady, controlled motion even in confined spaces, irrespective of changes in the subject’s body-heading direction. The performance evaluation of the proposed motion-scaling-based telemanipulation leveraged Optitrack’s motion-capture system, comparing the trajectories of the operator’s hand and the manipulator’s end effector (EEF). This verification process solidified the efficacy of the developed framework in enhancing telemanipulation performance.
Funding Information
  • National Research Foundation of Korea (NRF) (NRF-2023 R1F1A1074704, 2023-0-00218, IITP-2023-RS-2022-00156360, P0017123)
  • Institute of Information and communications Technology Planning and evaluation (IITP) (NRF-2023 R1F1A1074704, 2023-0-00218, IITP-2023-RS-2022-00156360, P0017123)
  • MSIT (Ministry of Science and ICT), Korea (NRF-2023 R1F1A1074704, 2023-0-00218, IITP-2023-RS-2022-00156360, P0017123)
  • Korea Institute for Advancement of Technology (KIAT) (NRF-2023 R1F1A1074704, 2023-0-00218, IITP-2023-RS-2022-00156360, P0017123)

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