Improved Teleoperation of an Industrial Robot Arm System Using Leap Motion and MYO Armband Teleoperated robot systems can support humans to accomplish their works in lots of applications. However, the performance of teleoperation is easily influenced by human operatoru0027s motor function. In order to reduce the misoperation caused by human operatoru0027s unintentional behavior, in this paper, an improved teleoperation scheme combined with Leap Motion and MYO armband is proposed to apply in teleoperating an industrial robot arm. By using the proposed method, we can achieve interaction between human operator and industrial robot arm in realtime. Besides, the proposed method can prevent the misoperation caused by unexpected arm shaking. Experimental results demonstrated the effectiveness of the proposed method for a teleoperated robot system.

Development of An Assist Upper Limb Exoskeleton For Manual Handling Task In this paper we describe the construction of a wearable upper arm exoskeleton to provide support for industrial workers who engaged in repetitive handling tasks and patients who full or partial loss of function in their upper limb due to accident injuries, spinal cord and strokes. We use flexible rope driven by a motor to realize the shoulder and elbow joints linkage, use ball screw to realize the selflocking in any position to providing assist for users. This novel design not only saves energy but also make the whole system portable. The total weight of the prototype is only 2 kg. The exoskeleton is connected upper limb with 3 bandages, and users take about 30 seconds to put it on and 20 seconds to put the exoskeleton off without any help. The PD adaptive control method is applied to the proposed exoskeleton to track expected trajectories. Five healthy people participated in data acquisition. Upper limb muscle integrated electromyography (IEMG) of the deltoid muscle(DM), the biceps femoris muscle (BFW), the femoral muscle (FM), the femoral wrist flexor (FWF) were compared in continuous handling for four different loads (0, 1.5, 3, 4.5kg). The average assistance efficiency were 39.1%, 41.5%, 36.5% and 40.6% for the DM, BFM, FM and FWF respectively. The experimental data show that the upper limb exoskeleton can provide assist for workers and protect their upper limbs injuries in longterm handling task.