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Vol.7 No.4previousAA115-NT74-75
Academic Articles
Regular Paper Vol.7 No.4 (2016) p.206 - p.215
 

POD Evaluation for Joint Angles from Inertial and Optical Motion Capturing System

 
Kai SHIMIZU1, Futoshi KOBAYASHI1,*, Hiroyuki NAKAMOTO1, and Fumio KOJIMA1
 
1Dept. of Systems Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan
 
Abstract
It has been recognized that advances in preventive maintenance can improve the sustainment of systems, facilities, and infrastructure. Robot technologies have also received attention for maintenance applications. In order to operate delicate tasks, multi-fingered robot hands have been proposed in cases where human capability is deficient. This paper deals with motion capturing systems for controlling the hand/arm robot remotely. Several types of motion capturing systems have been developed so far. However, it is difficult for individual motion capturing systems to measure precise joint angles of a human arm. Therefore, in this paper, we integrate the inertial motion capturing system with the optical motion capturing system to capture a human arm posture. By evaluating the reliability of each motion capturing system, the integration is carried out. The probability of detection (POD) is applied to evaluate and compare the reliability of datasets measured by each motion capturing system. POD is one of the widely used statistical techniques to determine reliability. We apply the a analysis to determine the POD(a2) function from the data set. Based on the POD evaluation, two motion capturing systems are integrated.
 
Keywords
Robot Maintenance Motion capturing system, Optical sensor, Inertial sensor, Tele-operation, Probability of detection
 
Full Paper: PDF EJAM Vol.7 No.4 pp.206-215 "POD Evaluation for Joint Angles from Inertial and Optical Motion Capturing System"















Article Information
Article history:
Received 22 January 2016
Accepted 17 February 2016