Telepresence Humanoid Robotic Arm
This is a passion project-turned-senior project ("CAPSTONE") that is currently in the works. I hope to produce a research paper out of it! The project interfaces an open-source InMoov arm with a data glove to remotely perform tasks via proxy. The actions of the glove wearer are transferred as spatial coordinates to the InMoov arm, where the positioning is then solved using inverse kinematics. The goal is to toss and catch a tennis ball remotely using this method. See images 1 & 2 below. You can also find more information in this critical design review presentation.
I recently submitted this video to the Institute for Human & Machine Cognition. You can see the mobility of the fully-assembled arm and real-time control of the fingers. The arm can be controlled with a new algorithm for computing robot kinematics and real-time hand tracking using an IMU is currently in the works!
Image 1: CAD depiction of the entire assembly.
