Validation of an Ergonomic Contactless Master Device for a Teleoperation Platform

Abstract

In this paper we evaluate the accuracy of a contactless 6-DoF master device for a teleoperation platform. The master device is an optical tracking system, i.e. Leap Motion, capable of recognize and track the hand movements. A method to evaluate its accuracy by using a Qualisys motion capture system composed of 8 high-resolution cameras is proposed. In addition, the teleoperation control architecture is presented, where a torque-controlled robot is employed as the slave device, i.e. a 7-DoF Franka Emika robot. The results presented in this paper allow to validate the use of the Leap Motion as an accurate master device in a teleoperation chain while also to evaluate its operational limitations.