Development and assessment of a contactless 3D joystick approach to industrial manipulator gesture control

This paper explores a novel design of ergonomic gesture control with visual feedback for the UR3 collaborative robot that aims to allow users little no familiarity robots complete basic tasks and programming. The principle behind mirrors 3D joystick but utilises Leapmotion device track user's hands prevents any need physical or buttons. Rapid Upper Limb Assessment (RULA) tool was used inform ensure system safe long-term use. developed assessed using RULA an score through experiment requiring 19 voluntary participants task both UR3's RTP (Robot Teach Pendant), then filling out SUS (System Usability Scale) questionnaires compare usability systems. involved controlling pick up pipe insert it into series slots decreasing diameter, allowing speed accuracy each be compared. found even those previous experience were able after only brief description how works. Despite beating RTP's score, narrowly lost on average scores. However, as contactless has other advantages over this many potential improvements identified, paving way future work assessing significance including comparing against gesture-based In industrial environments where may frequently reprogrammed complex RTPs, companies must call specialist training make minor adjustments. presented takes advantage easy interaction robots, untrained operators.