Human-robot interface based on WSSS IMU sensors

This paper proposes a human-robot interface based on two WSSS (Wireless Standalone Sensing System) IMU (Inertial Measurement Unit) sensors, which can return their own orientations in real time. One of the IMU sensors is fixed on the human hand used for detecting the palm's posture, and another sensor is fixed on an Omni-directional mobile robot used for measuring the attitude angle of the robot. And then, a mean of tele-pushing, tele-pulling, and tele-rotation functions is realized by controlling the Omni-directional mobile robot according to the hand posture with respect to the robot platform. Experimental results indicate that the proposed method is convenient to control the mobile robot, and the robot moves smoothly and freely according to human's hand motion.