Kinect-Based Humanoid Robotic Manipulator for Human Upper Limbs Movements Tracking

作     者：Mohammed Z. Al-Faiz Ahmed F. Shanta 

作者机构：College of Information Engineering Al-Nahrain University Baghdad Iraq Department of Computer Engineering Al-Nahrain University Baghdad Iraq 

出 版 物：《Intelligent Control and Automation》 (智能控制与自动化（英文）)

年 卷 期：2015年第6卷第1期

页      面：29-37页

学科分类：1002[医学-临床医学] 100214[医学-肿瘤学] 10[医学] 

主　　题：Humanoid Robotic Manipulator Human Arm Kinect 

摘      要：This paper presents a humanoid robotic arms controlled by tracking the human skeleton movement in real-time using Kinect upper limbbody tracking. Using Kinect tracking algorithm, the positions of upper limb arms of the body to the wrist in 3D space can be estimated by processing depth images from the Kinect. An extraction of 3D co-ordinates of the user’s both arm in real-time then Arduino microcontroller is transferring the data between both of computer and the humanoid robotic arm. This method provides a way to send movement task to the humanoid robotic manipulator instead of sending the end position motion like gesture-based approaches and this method has been tested in detect, tracking and following the movement of human skeleton gesture. Designing complete prototype of a humanoid robotic arms with 4DOF three joints in shoulder and one elbow joint to the wrist that look like the Human arm Structure, Appearance and Action that represent human arm movement performed by the humanoid robotic arm. The error was and response time result generated is small (less than 4.6% and 105 ms).