An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton

In recent years significant attention has been made towards teleoperation of a humanoid robot using haptic devices. Methodologies developed are either cost prohibitive or they are not very effective. The lack of an effective, economical and a simple technique for teleoperation of humanoids is a barrier in exploring their full potential. In this paper we have reported a novel method for teleoperation of a humanoid robot using an exoskeleton for lower limb and upper limb. Experiments were performed to test the effectiveness of the exoskeleton in capturing human motion by analyzing different walking patterns like slow walking, fast walking and jogging. The motion data captured using exoskeleton can be directly applied to the servo motors of the humanoid for teleoperation. The joint angles of the human subject and the humanoid were also compared using image processing to see the overall effectiveness of the proposed method for teleoperation. The results indicate that the method is effective and affordable for teleoperation of the humanoid robots.