Title :
Implementation of an Android based teleoperation application for controlling a KUKA-KR6 robot by using sensor fusion
Author :
Yepes, Juan C. ; Yepes, Juan J. ; Martinez, Juan ; Perez, Vera Z.
Author_Institution :
Centro de Bioingenieria, Univ. Pontificia Bolivariana, Medellin, Colombia
fDate :
April 29 2013-May 4 2013
Abstract :
Teleoperated systems have been used in diverse biomedical applications, from the rehabilitation of patients, the management of biological hazardous material and medication storage, to minimally invasive surgery. This paper, introduces an Android OS (operating system) based application that communicates with an industrial robot Kuka KR-6 through USB to Serial connection, to control it with the on-board accelerometers, and gyroscopes of a tablet or smartphone, intended to be used in telemedicine procedures. Arduino Uno microcontroller board, RS232 Shifter SMD and mobile device were used to develop this work. To evaluate this system a survey was done with engineering related users.
Keywords :
accelerometers; gyroscopes; medical robotics; microcontrollers; mobile robots; operating systems (computers); sensors; smart phones; telemedicine; telerobotics; Android OS; Android based teleoperation application; Arduino Uno microcontroller board; RS232 Shifter SMD; USB; biological hazardous material management; biomedical application; gyroscope; industrial robot Kuka KR-6; medication storage management; mobile device; on-board accelerometer; patient rehabilitation; sensor fusion; serial connection; smartphone; surgery; tablet; telemedicine procedure; teleoperated system; Androids; Robot kinematics; Robot sensing systems; Sensor fusion; Smart phones; Universal Serial Bus; Application software; Biohazards; Robot Control; Sensor fusion; Telemedicine;
Conference_Titel :
Health Care Exchanges (PAHCE), 2013 Pan American
Conference_Location :
Medellin
Print_ISBN :
978-1-4673-6254-2
DOI :
10.1109/PAHCE.2013.6568286
