1. 1 Using Motion Capture Data to Regenerate Operator’s Motions in a Simulator in Real Time Speaker : Po-Hung Lai Date :2009.10.2 Feng DUAN, Jeffrey Too Chuan TAN and Tamio ARAI

2. 2 Outline 1. Introduction 2. 2. Experimental Setup and Simulator 3. Arithmetic Methods Used in This Experiment 4. Experiment Results 5. Conclusions

3. 3 1.Introduction Cell Production System

4. 4 (1) Due to the negative or zero growth of the population 1.Introduction

5. 5 (2) To protect the operator 1.Duan has utilized a simulator. 2.Henrich has proposed an intuitive behavior model to realize a safe human-robot coexistence and cooperation. (3) defect not real time not real time 1.Introduction

6. 6 (4) improvement 1.Introduction

7. 7 (5) Use Direct Linear Transform defect :Change light condition defect :Change light condition improvement : Use special color filter method improvement : Use special color filter method (6) Use special color filter method defect : detected 3D position whether accurate defect : detected 3D position whether accurate improvement :joint-angle into Kinematic human body simulator improvement :joint-angle into Kinematic human body simulator 1.Introduction

8. 8 (7) joint-angle into kinematic human body simulator defect : not real time defect : not real time improvement: Base on Optitrack improvement: Base on Optitrack the operator’s motion in real time the operator’s motion in real time 1.Introduction

9. 9 (8) Base on Optitrack the operator’s motion defect: not conveniently and economically defect: not conveniently and economically improvement: A human operator’s motions improvement: A human operator’s motions conveniently and economically. A kinematic human body simulator is developed. A kinematic human body simulator is developed. 1.Introduction

10. 10 (9) kinematic human body simulator defect: capture error defect: capture error improvememt: noise filter method improvememt: noise filter method 1.Introduction

11. 11 2. 2. Experimental Setup and Simulator (1) Experimental Setup START Use two cameras to capture color make Compute 2D Position

12. 12 2. 2. Experimental Setup and Simulator Use DLT Method Use Color Filter Method Use Noise Filter Method

13. 13 2. 2. Experimental Setup and Simulator Calibration Tool Kinematics human body simulator End

14. 14 3.Arithmetic Methods Used in This Experiment (1) (1) Direct Linear Transformation (DLT) Method

15. 15 3.Arithmetic Methods Used in This Experiment

16. 16 3.Arithmetic Methods Used in This Experiment

17. 17 3.Arithmetic Methods Used in This Experiment (2) (2) Joint Angle Calculation Equations

18. 18 ( 3) Color filter Method 3.Arithmetic Methods Used in This Experiment

19. 19 3.Arithmetic Methods Used in This Experiment

20. 20 3.Arithmetic Methods Used in This Experiment

21. 21 3.Arithmetic Methods Used in This Experiment (4) (4) Noise Filter Method

22. 22 4.Experiment Results (1) (1) Overview of the Entire System

23. 23 (2) Measurement Accuracy 4.Experiment Results

24. 24 (3) (3) Regenerated Operator’s Motions 4.Experiment Results

25. 25 4.Experiment Results

26. 26 4.Experiment Results

27. 27 5. 5. Conclusions From these experimental results, our monitoring system successfully regenerates the operator’s motions in the simulator in real time.