IMU-Based Teleoperation for Supernumerary Robotic Limbs

This paper introduces a teleoperation framework for Supernumerary Robotic Limbs(SRLs) using an Inertial Measurement Unit(IMU) as the master device. The framework allows users to control the SRL by adjusting Euler angles, so as to provide an assistance in performing tasks. The research outlines the process of utilizing data from the IMU to obtain pose information, then transform this information into end position information for the SRL via the application of two distinct mapping relationships: the accumulation-based and the percentage-based methods. Joint information of the SRL is obtained by resolving the inverse kinematics and effectively realizing an IMU-based SRL teleoperation system. The efficacy of the IMU as a controller for teleoperation is verified using experimental trials which demonstrates positive outcomes. Though the errors of the percentage-based method are found to be slightly larger than that of the accumulation-based method, both mapping methods are effective in providing accurate tracking performance.