GuLiM : A Hybrid Motion Mapping Technique for Teleoperation of Medical Assistive Robot in Combating the COVID-19 Pandemic

• Driven by the demand to largely mitigate nosocomial infection problems in combating the coronavirus disease 2019 (COVID-19) pandemic, the trend of developing technologies for teleoperation of medical assistive robots is emerging. However, traditional teleoperation of robots requires professional training and sophisticated manipulation, imposing a burden on healthcare workers, taking a long time to deploy, and conflicting the urgent demand for a timely and effective response to the pandemic. This paper presents a novel motion synchronization method enabled by the hybrid mapping technique of hand gesture and upper-limb motion (GuLiM). It tackles a limitation that the existing motion mapping scheme has to be customized according to the kinematic configuration of operators. The operator awakes the robot from any initial pose state without extra calibration procedure, thereby reducing operational complexity and relieving unnecessary pre-training, making it user-friendly for healthcare workers to master teleoperation skills. Experimenting with robotic grasping tasks verifies the outperformance of the proposed GuLiM method compared with the traditional direct mapping method. Moreover, a field investigation of GuLiM illustrates its potential for the teleoperation of medical assistive robots in the isolation ward as the Second Body of healthcare workers for telehealthcare, avoiding exposure of healthcare workers to the COVID-19. 

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)

Nyckelord

COVID-19

HCPS

healthcare 40

Hybrid motion mapping

medical assistive robot

Health care

Job analysis

Kinematics

Mapping

Medical computing

Personnel training

Robots

Assistive robots

Coronavirus disease 2019

Coronaviruses

HCPS.

Healthcare 4.0

Motion mapping

Pandemic

Robot kinematics

Task analysis

Tele-robotics

Coronavirus

Publikations- och innehållstyp

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