Method and Apparatus for Controlling a Robotic Device via Wearable Sensors
First Claim
1. A method of training a robotic device to perform predetermined movements utilizing wearable sensors worn by a user, the method comprising the steps of:
- sensing a position and movement of the user in response to signals from the wearable sensors, the wearable sensors including at least one six-degree of freedom accelerometer;
recognizing gestures by a gesture recognizer device in response to the signals;
estimating a position, orientation, and velocity of the user by a position and orientation processing unit;
receiving the sensed gesture inputs and the estimated position, orientation, and velocity inputs of the wearable sensors within a service requester device;
converting the gestures, orientations, positions, and velocities into predefined actions; and
outputting controls signals from the service requester device to a robot controller for executing the predefined actions.
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Abstract
A method of training a robotic device to perform predetermined movements utilizing wearable sensors worn by a user. A position and movement of the user is sensed in response to signals from the wearable sensors. The wearable sensors include at least one six-degree of freedom accelerometer. Gestures are recognized by a gesture recognizer device in response to the signals. A position, orientation, and velocity of the user are estimated by a position and orientation processing unit. The sensed gesture inputs and the estimated position, orientation, and velocity inputs of the wearable sensors are received within a service requester device. The gestures, orientations, positions, and velocities are converted into predefined actions. Controls signals are output from the service requester device to a robot controller for executing the predefined actions.
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Citations
20 Claims
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1. A method of training a robotic device to perform predetermined movements utilizing wearable sensors worn by a user, the method comprising the steps of:
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sensing a position and movement of the user in response to signals from the wearable sensors, the wearable sensors including at least one six-degree of freedom accelerometer; recognizing gestures by a gesture recognizer device in response to the signals; estimating a position, orientation, and velocity of the user by a position and orientation processing unit; receiving the sensed gesture inputs and the estimated position, orientation, and velocity inputs of the wearable sensors within a service requester device; converting the gestures, orientations, positions, and velocities into predefined actions; and outputting controls signals from the service requester device to a robot controller for executing the predefined actions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 18, 19, 20)
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16. A human machine interface system for training a robotic device by a human operator, the system comprising:
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a robot controller for controlling movement of a robotic device; a wearable sensing device including at least one six-degree of freedom accelerometer that senses position and orientation of the wearable sensing device, a movement of the wearable sensing device being used to control a movement of the robotic device via the robotic controller; a service provider device in communication with the wearable sensing device for receiving position and orientation data from the wearable sensing device, the service provider device including a gesture recognition device and a position and orientation processing device, the gesture recognition device identifying gestures generated by the wearable sensors, the position and orientation processing device estimating position, orientation, and velocity of the wearable sensors; a service requester device including a control signal generator and a control state machine, the control signal generator integrating data received from the gesture recognition and from the position and orientation processing device for generating control signals and providing the control signals to the robotic device, the control state sub-module identifying transitions states that include null states, static states, and motion states; wherein the robotic device is trained to perform a respective operation by the identifying a sequence of gestures, orientations, positions, and velocities as sensed by the wearable sensing device, wherein the sequence of gestures, orientations, positions, and velocities are converted to predefined actions and executed via the robot controller.
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Specification