Conference Information Conference: 17th IEEE International Conference on Industrial Informatics (INDIN’19) 22-25 July 2019, Helsinki-Espoo, Finland Title of the paper: Hand Gesture-Based On-Line Programming of Industrial Robot Manipulators Authors: Antonios Sylari, Borja Ramis Ferrer, José Luis Martinez Lastra

1. Hand Gesture-Based On-Line Programming
of Industrial Robot Manipulators
Contact Information
Tampere University
Engineering and Natural Sciences Faculty
Future Automation Systems and Technologies
Laboratory (FAST-Lab.)
P.O. Box 600,
FIN-33014 Tampere
Finland
Email: fast@tuni.fi
research.tuni.fi/fast
Conference Information
Conference: 17th IEEE International Conference on
Industrial Informatics (INDIN’19) 22-25 July 2019,
Helsinki-Espoo, Finland
Title of the paper: Hand Gesture-Based On-Line
Programming of Industrial Robot Manipulators
Authors: Antonios Sylari, Borja Ramis Ferrer, José Luis
Martinez Lastra
if you would like to recieve a reprint of the original paper, please contact us22-25 July 2019, Helsinki-Espoo, Finland17th IEEE International Conference on Industrial Informatics
(INDIN’19)
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2. Hand Gesture-Based On-Line
Programming of Industrial Robot
Manipulators
17th IEEE International Conference on Industrial Informatics
(INDIN’19)
22-25 July 2019, Helsinki-Espoo, Finland
Antonios Sylari, Borja Ramis Ferrer, José Luis Martinez Lastra

3. Introduction
• Typical off-line Robot programming
works very well. However, fine
tuning the robot motion can be
consuming.
• Online programming via lead-
through can help in the fine tuning
phase. But is it safe?
22-25 July 2019, Helsinki-Espoo, Finland17th IEEE International Conference on Industrial Informatics (INDIN’19) 3

4. Problem Statement
Fine tuning of robot
targets can be
challenging while lead-
through violates the
safety measures. Can
we do better?
22-25 July 2019, Helsinki-Espoo, Finland17th IEEE International Conference on Industrial Informatics (INDIN’19) 4

5. Objectives
• Interaction with the
robot in more human-
common sense
• Ensure safety.
• Generic for all robot
• Reliable and durable
22-25 July 2019, Helsinki-Espoo, Finland17th IEEE International Conference on Industrial Informatics (INDIN’19) 5

6. The Approach
22-25 July 2019, Helsinki-Espoo, Finland17th IEEE International Conference on Industrial Informatics (INDIN’19) 6
Work space recognition
Human (hand) Recognition
Process Recognition
Design robot motion

7. Implementation
• Hand gesture recognition
• Hand tracking
• Interoperability with robot
22-25 July 2019, Helsinki-Espoo, Finland17th IEEE International Conference on Industrial Informatics (INDIN’19) 7
• Individual finger-tracking
(bending sensors).
• Bluetooth for wireless
connection.
• Hand position tracking.
• Infrared cameras and LEDs.
• Interaction area:
 Height: 80cm
 Wide and deep: 120cm. • 6 Degree of Freedom.
• Smart Gripper.

8. The Implementation
22-25 July 2019, Helsinki-Espoo, Finland17th IEEE International Conference on Industrial Informatics (INDIN’19) 8
Enable Gestures Move Robot Hold PositionDisable Gestures
ReleaseGrasp Run Path

9. The Implementation
22-25 July 2019, Helsinki-Espoo, Finland17th IEEE International Conference on Industrial Informatics (INDIN’19) 9
SmartGloveAdapter
LeapMotionAdapter
MotionEngine
TCP Sockets
TCP Sockets
TCP
Sockets

10. Testing
22-25 July 2019, Helsinki-Espoo, Finland17th IEEE International Conference on Industrial Informatics (INDIN’19) 10
First
Attempt
contact us for
the video

11. Testing
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Currently

12. Conclusion
22-25 July 2019, Helsinki-Espoo, Finland17th IEEE International Conference on Industrial Informatics (INDIN’19) 12
• Ease of use by non-programming expert.
• Reduce the required time to program robot.
• Simplified robot motion fine tuning process.
Future Work
• Adaption to different domains.
• Development of a path optimization algorithm.
• Task optimization depending robot’s topology.

13. THANK YOU!
Any questions?
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www.facebook.com/fast.laboratory
www.slideshare.net/fastlaboratory
www.twitter.com/FAST_Lab
22-25 July 2019, Helsinki-Espoo, Finland17th IEEE International Conference on Industrial Informatics
(INDIN’19)
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