Non-Contact Sensing System for Telerobotic Applications Conference Paper uri icon


  • The work presented here describes a novel vision-based motion detection system for telerobotic operations. The system uses a CCD camera and image processing to detect the motion of a master robot or operator. Color tags are placed on the arm and head of a human operator to detect the up/down, right/left motion of the head as well as the right/left motion of the arm. The motion of the color tags are used to actuate a slave robot or a remote system. The determination of the color tags' motion is achieved through image processing using eigenvectors and color system morphology. Through inverse dynamics and coordinate transformation, the relative head, shoulder, and wrist rotation angles are determined. A program is used to transform this motion data into motor control commands and transmit them to a slave robot or remote system through wireless internet. The system performed well even in complex environments with errors that did not exceed 2 pixels with a response time of about 0.1 seconds. 2010 IEEE.

name of conference

  • 19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)

published proceedings

  • 19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)

author list (cited authors)

  • Karkoub, M., Her, M., Ho, M., & Huang, J.

citation count

  • 0

complete list of authors

  • Karkoub, M||Her, M-G||Ho, M-I||Huang, J-C

publication date

  • June 2010