Motion reconstruction with a low-cost MEMS IMU for the automation of human operated specimen manipulation

Riccardo Antonello, Ilaria Nogarole, Roberto Oboe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We consider the problem of automating the motion performed by a human operator when manipulating a specimen in tasks such as visual inspections for defects. This is a typical situation in which the trajectory of the manipulated object is hardly described by analytical functions, since the actual movements are suggested more by the operator's experience, rather than a standardized protocol. In principle, traditional motion capture systems based on computer vision methods could be employed to reconstruct the motion: however, especially when manipulating small specimens, visual occlusions caused by the operator's hand prevent the correct tracking of the moving object. In this paper, we investigate the possibility of reconstructing the motion by using the information provided by a low-cost MEMS Inertial Measurement Unit (IMU) attached to the specimen. For simple manipulating tasks such as shaking and rotations, we show that the motion capture system based on inertial measurements can be effectively used.

Original languageEnglish
Title of host publicationProceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics
Pages2189-2194
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Symposium on Industrial Electronics, ISIE 2011 - Gdansk, Poland
Duration: Jun 27 2011Jun 30 2011

Other

Other2011 IEEE International Symposium on Industrial Electronics, ISIE 2011
CountryPoland
CityGdansk
Period6/27/116/30/11

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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    Antonello, R., Nogarole, I., & Oboe, R. (2011). Motion reconstruction with a low-cost MEMS IMU for the automation of human operated specimen manipulation. In Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics (pp. 2189-2194). [5984500] https://doi.org/10.1109/ISIE.2011.5984500