Communication with the Manipulator using Gestures to Enhance the Manipulability of Persons with Reduced Mobility

Abstract

The paper presents a robotic system that assists people with reduced mobility in the activities of picking up and putting down objects out of reach. Human‐robot communication is non‐verbal, using gestures that have been specifically selected for the robot’s use. Gestures are read out using an RGB‐D camera while the commands they express are executed online by a small UR3 cobot. The evaluation of the system has shown that it is useful and safe in the sense of the SUS and GQS respectively.