Gesture-based control of highly articulated biomechatronic systems

Zhiqiang Luo, Shusong Xing, I. Ming Chen, Henry Been Lirn Duh

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (Scopus)


A robotic puppet is developed for studying motion generation and control of highly articulated biomimic mechatronic systems with anatomical motion data of human in real time. The system is controlled by a pair of data gloves tracking human fingers' actions. With the primitives designed in a multilayered motion synthesis structure, the puppet can realize some complex human-like actions. Continuous full body movements are produced on the robotic puppet by combining and sequencing the actions on different body parts using temporal and spatial information provided by the data gloves. Human is involved in the interactive design of the coordination and timing of the body movements of the robotic puppet in a natural and intuitive manner. The methods of motion generation exhibited on the robotic puppet may be applied to the interactive media, entertainment and biomedical engineering.

Original languageEnglish
Title of host publicationHRI 2006
Subtitle of host publicationProceedings of the 2006 ACM Conference on Human-Robot Interaction - Toward Human Robot Collaboration
PublisherAssociation for Computing Machinery (ACM)
Number of pages2
ISBN (Print)1595932941, 9781595932945
Publication statusPublished - 2006
Externally publishedYes
EventHRI 2006: 2006 ACM Conference on Human-Robot Interaction - Salt Lake City, Utah, United States
Duration: 2 Mar 20064 Mar 2006

Publication series

NameHRI 2006: Proceedings of the 2006 ACM Conference on Human-Robot Interaction


ConferenceHRI 2006: 2006 ACM Conference on Human-Robot Interaction
Country/TerritoryUnited States
CitySalt Lake City, Utah


  • Biomechatronic system
  • Human-robot interface
  • Multilayered motion synthesis
  • Robotic puppet

ASJC Scopus subject areas

  • General Engineering


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