Construction of remote-control interface to recreate skilled movement in a robot

Abstract

In this paper, we constructed trajectory measurement system of ultrasound probe scanning for analysis of skillful procedure in echography. The procedure measurement system was built using ARToolkit and a Kinect sensor, and accuracy verification of position measurement was performed. First, Probe position and posture for acquiring the basic cross-sectional imaging, the demand specification of a measurement system was determined. The measurement system which acquires a probe tip position by ARToolkit and acquires the form of an arm by Kinect sensor was built. Next, when procedure which traces a character for the purpose of acquisition of probe scanning procedure was measured, procedure measurement in accuracy sufficient about ARToolkit was able to be performed, but about the Kinect sensor, the subject remained in measurement of the Kanji character with many stroke counts. it became possible to trace on a body surface and to measure a scan trajectory by ARToolkit. The system is improved towards probe angle measurement from now on.