In modern industrial processes, a high flexibility and adaptability are indispensable. Hence, the requirements on human supporting production cells are getting even bigger.
As Human-Machine Interaction evolves with new technologies, more and more sensor data needs to be processed in a short period of time. To look at the right spots in data for dynamic mid-air gesture classification becomes a key factor.
Pneumatic artificial muscles consist of two main parts, a rubber bladder, and a woven fabric. By applying pressurized air, the bladder is caused to change its volume and the fabric translates this change to a linear contraction, which approximates the behavior of human muscles. Hence the Regensburg Robotics Research Unit uses these muscles in its antagonistically actuated exoskeleton.
The goal of the project was the development of a trajectory planner for trajectories with double-S-velocity proﬁl and the use of the concept on a 6-axis light-weight robot.