Papers
Topics
Authors
Recent
Gemini 2.5 Flash
Gemini 2.5 Flash
194 tokens/sec
GPT-4o
7 tokens/sec
Gemini 2.5 Pro Pro
46 tokens/sec
o3 Pro
4 tokens/sec
GPT-4.1 Pro
38 tokens/sec
DeepSeek R1 via Azure Pro
28 tokens/sec
2000 character limit reached

The Bridge between Xsens Motion-Capture and Robot Operating System (ROS): Enabling Robots with Online 3D Human Motion Tracking (2306.17738v1)

Published 30 Jun 2023 in cs.RO

Abstract: This document introduces the bridge between the leading inertial motion-capture systems for 3D human tracking and the most used robotics software framework. 3D kinematic data provided by Xsens are translated into ROS messages to make them usable by robots and a Unified Robotics Description Format (URDF) model of the human kinematics is generated, which can be run and displayed in ROS 3D visualizer, RViz. The code to implement the to-ROS-bridge is a ROS package called xsens_mvn_ros and is available on GitHub at https://github.com/hrii-iit/xsens_mvn_ros The main documentation can be found at https://hrii-iit.github.io/xsens_mvn_ros/index.html

Definition Search Book Streamline Icon: https://streamlinehq.com
References (46)
  1. “Human motion trajectory prediction: A survey” In The International Journal of Robotics Research 39.8 Sage Publications Sage UK: London, England, 2020, pp. 895–935
  2. “Motion capture in robotics review” In 2009 IEEE international conference on control and automation, 2009, pp. 1697–1702 IEEE
  3. “Real-time motion capture for a human body using accelerometers” In Robotica 19.6 Cambridge University Press, 2001, pp. 601–610
  4. “Human motion capture by integrating gyroscopes and accelerometers” In IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems (Cat. No. 96TH8242), 1996, pp. 470–475
  5. “Optimal transcostal high-intensity focused ultrasound with combined real-time 3D movement tracking and correction” In Physics in Medicine & Biology 56.22 IOP Publishing, 2011, pp. 7061
  6. “Design of a marker-based human motion tracking system” In Biomedical Signal Processing and Control 2.1 Elsevier, 2007, pp. 59–67
  7. “Markerless 3D human pose tracking through multiple cameras and AI: Enabling high accuracy, robustness, and real-time performance” In arXiv preprint arXiv:2303.18119, 2023
  8. Martin Schepers, Matteo Giuberti and Giovanni Bellusci “Xsens MVN: Consistent tracking of human motion using inertial sensing” In Xsens Technol 1.8, 2018
  9. H Martin Schepers, Hubertus FJM Koopman and Peter H Veltink “Ambulatory assessment of ankle and foot dynamics” In IEEE Transactions on Biomedical Engineering 54.5, 2007, pp. 895–902
  10. “Biomechanical analysis in freestyle snowboarding: application of a full-body inertial measurement system and a bilateral insole measurement system” In Sports Technology 2.1-2 Taylor & Francis, 2009, pp. 17–23
  11. “Human motion tracking for rehabilitation—A survey” In Biomedical Signal Processing and Control 3.1, 2008, pp. 1–18
  12. “Human movement and ergonomics: An industry-oriented dataset for collaborative robotics” In The International Journal of Robotics Research 38.14 SAGE Publications Sage UK: London, England, 2019, pp. 1529–1537
  13. “Predicting and optimizing ergonomics in physical human-robot cooperation tasks” In 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 1799–1805 IEEE
  14. “A Control Approach for Human-Robot Ergonomic Payload Lifting” In arXiv preprint arXiv:2305.08499, 2023
  15. “Augmented reality–based rehabilitation of gait impairments: Case report” In JMIR mHealth and uHealth 8.5 JMIR Publications Inc., Toronto, Canada, 2020, pp. e17804
  16. 01-04-2021 Revision Z “MVN User Manual” [Online; accessed 08-June-2023], https://www.xsens.com/hubfs/Downloads/usermanual/MVN_User_Manual.pdf, 2021
  17. “ROS: an open-source Robot Operating System” In Workshop on open source software at the IEEE International Conference on Robotics and Automation (ICRA), 2009
  18. “A real-time graphic interface for the monitoring of the human joint overloadings with application to assistive exoskeletons” In Wearable Robotics: Challenges and Trends: Proceedings of the 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy 3, 2019, pp. 281–285 Springer
  19. “A framework for real-time and personalisable human ergonomics monitoring” In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11101–11107 IEEE
  20. “Maximising Coefficiency of Human-Robot Handovers Through Reinforcement Learning” In IEEE Robotics and Automation Letters IEEE, 2023, pp. 1–8 DOI: 10.1109/LRA.2023.3280752
  21. “Open-VICO: An Open-Source Gazebo Toolkit for Vision-based Skeleton Tracking in Human-Robot Collaboration” In IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2022, pp. 511–517
  22. “Biomechanical Risk Assessment of Human Lifting Tasks via Supervised Classification of Multiple Sensor Data” In 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022, pp. 746–751 IEEE
  23. Marta Lorenzini, Wansoo Kim and Arash Ajoudani “An online multi-index approach to human ergonomics assessment in the workplace” In IEEE Transactions on Human-Machine Systems 52.5 IEEE, 2022, pp. 812–823
  24. “A flexible robotics-inspired computational model of compressive loading on the human spine” In IEEE Robotics and Automation Letters 6.4 IEEE, 2021, pp. 8229–8236
  25. “A real-time tool for human ergonomics assessment based on joint compressive forces” In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2020, pp. 1164–1170 IEEE
  26. “An online method to detect and locate an external load on the human body with applications in ergonomics assessment” In Sensors 20.16 MDPI, 2020, pp. 4471
  27. “Enhancing flexibility and adaptability in conjoined human-robot industrial tasks with a minimalist physical interface” In IEEE International Conference on Robotics and Automation (ICRA), 2022, pp. 8061–8067
  28. “Quantitative physical ergonomics assessment of teleoperation interfaces” In IEEE Transactions on Human-Machine Systems 52.2 IEEE, 2022, pp. 169–180
  29. “A directional vibrotactile feedback interface for ergonomic postural adjustment” In IEEE Transactions on Haptics 15.1, 2021, pp. 200–211
  30. “Performance Analysis of Vibrotactile and Slide-and-Squeeze Haptic Feedback Devices for Limbs Postural Adjustment” In 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2022, pp. 707–713 IEEE
  31. “Ergotac: A tactile feedback interface for improving human ergonomics in workplaces” In IEEE Robotics and Automation Letters 3.4 IEEE, 2018, pp. 4179–4186
  32. “An ergonomic role allocation framework for dynamic human–robot collaborative tasks” In Journal of Manufacturing Systems 67 Elsevier, 2023, pp. 111–121
  33. “Dynamic human-robot role allocation based on human ergonomics risk prediction and robot actions adaptation” In 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 2825–2831 IEEE
  34. “A human-robot collaboration framework for improving ergonomics during dexterous operation of power tools” In Robotics and Computer-Integrated Manufacturing 68 Elsevier, 2021, pp. 102084
  35. “Towards ergonomic control of collaborative effort in multi-human mobile-robot teams” In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, pp. 3005–3011 IEEE
  36. “A new overloading fatigue model for ergonomic risk assessment with application to human-robot collaboration” In 2019 International Conference on Robotics and Automation (ICRA), 2019, pp. 1962–1968 IEEE
  37. “Adaptable workstations for human-robot collaboration: A reconfigurable framework for improving worker ergonomics and productivity” In IEEE Robotics & Automation Magazine 26.3 IEEE, 2019, pp. 14–26
  38. “Toward a synergistic framework for human-robot coexistence and collaboration (hrc2)” In Institute for Robotics and Intelligent Machines Conference (I-RIM) Proceedings, 2019, pp. N–A
  39. “A synergistic approach to the real-time estimation of the feet ground reaction forces and centers of pressure in humans with application to human–robot collaboration” In IEEE Robotics and Automation Letters 3.4 IEEE, 2018, pp. 3654–3661
  40. Doganay Sirintuna, Alberto Giammarino and Arash Ajoudani “An Object Deformation-Agnostic Framework for Human–Robot Collaborative Transportation” In IEEE Transactions on Automation Science and Engineering, 2023, pp. 1–14 DOI: 10.1109/TASE.2023.3259162
  41. Doganay Sirintuna, Alberto Giammarino and Arash Ajoudani “Human-Robot Collaborative Carrying of Objects with Unknown Deformation Characteristics” In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 10681–10687 DOI: 10.1109/IROS47612.2022.9981948
  42. Doganay Sirintuna, Idil Ozdamar and Arash Ajoudani “Carrying the uncarriable: a deformation-agnostic and human-cooperative framework for unwieldy objects using multiple robots” In 2023 International Conference on Robotics and Automation (ICRA), 2023 IEEE
  43. “Improving standing balance performance through the assistance of a mobile collaborative robot” In IEEE International Conference on Robotics and Automation (ICRA), 2022, pp. 10017–10023
  44. “Bi-Directional Human-Robot Handover Using a Novel Supernumerary Robotic System” In 2023 IEEE Conference on Advanced Robotics and its Social Impact (ARSO), 2023 IEEE
  45. “A teleoperation interface for loco-manipulation control of mobile collaborative robotic assistant” In IEEE Robotics and Automation Letters 4.4 IEEE, 2019, pp. 3593–3600
  46. “Robot Operating System 2: Design, architecture, and uses in the wild” In Science Robotics 7.66 American Association for the Advancement of Science, 2022, pp. eabm6074
Citations (2)
View on Semantic Scholar

Summary

We haven't generated a summary for this paper yet.

Ai Sparkles Streamline Icon: https://streamlinehq.com Summarize Now