International Journal of Engineering Research

Dan Joseph C. Rudio ¹, Kris Dale B. Esma ¹, Lemuel E. Rosal ¹, Archie Boy D. Caringal ¹, Dexter James E. Yape ¹, Roselito E. Tolentino ¹

Affiliations
1 Polytechnic University of the Philippines, Santa Rosa Campus, PH

Abstract

This study aims to manipulate a robotic wrist even while the user is varying its poses by applying an algorithm and controlling it using a camera with depth sensor. Past studies about robotic wrist mimicking used Microsoft Kinect for Windows' Near Mode Function that "zooms in" the desired joint internally. However, problem occurred since it requires stable position to track the wrist, which results to being static and not creating roll motion. The proponents will solve this problem by using Microsoft Kinect for Xbox One. Xbox One sensor is the updated version of Kinect 360. From 20 joints, it can now detect 25 joints, including the tip of the left and right index finger, left and right thumb finger and other body joints. With the use of the additional points and using the concept of vector cross product, the proponents used the thumb and index as basis to create three imaginary vectors that enables the user to move his hand freely and allows the user to create roll motion.

Keywords

Microsoft Xbox One, Robotic Wrist, Mimicking, Skeletal Tracking.

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