{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,6]],"date-time":"2025-12-06T04:59:00Z","timestamp":1764997140863,"version":"3.41.2"},"reference-count":55,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2017,8,21]],"date-time":"2017-08-21T00:00:00Z","timestamp":1503273600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2017,8,21]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The idea is to exploit the natural stability and performance of the human arm during movement, execution and manipulation. The purpose of this paper is to remotely control a handling robot with a low cost but effective solution.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The developed approach is based on three different techniques to be able to ensure movement and pattern recognition of the operator\u2019s arm as well as an effective control of the object manipulation task. In the first, the methodology works on the kinect-based gesture recognition of the operator\u2019s arm. However, using only the vision-based approach for hand posture recognition cannot be the suitable solution mainly when the hand is occluded in such situations. The proposed approach supports the vision-based system by an electromyography (EMG)-based biofeedback system for posture recognition. Moreover, the novel approach appends to the vision system-based gesture control and the EMG-based posture recognition a force feedback to inform operator of the real grasping state.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The main finding is to have a robust method able to gesture-based control a robot manipulator during movement, manipulation and grasp. The proposed approach uses a real-time gesture control technique based on a kinect camera that can provide the exact position of each joint of the operator\u2019s arm. The developed solution integrates also an EMG biofeedback and a force feedback in its control loop. In addition, the authors propose a high-friendly human-machine-interface (HMI) which allows user to control in real time a robotic arm. Robust trajectory tracking challenge has been solved by the implementation of the sliding mode controller. A fuzzy logic controller has been implemented to manage the grasping task based on the EMG signal. Experimental results have shown a high efficiency of the proposed approach.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Research limitations\/implications<\/jats:title>\n<jats:p>There are some constraints when applying the proposed method, such as the sensibility of the desired trajectory generated by the human arm even in case of random and unwanted movements. This can damage the manipulated object during the teleoperation process. In this case, such operator skills are highly required.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>The developed control approach can be used in all applications, which require real-time human robot cooperation.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The main advantage of the developed approach is that it benefits at the same time of three various techniques: EMG biofeedback, vision-based system and haptic feedback. In such situation, using only vision-based approaches mainly for the hand postures recognition is not effective. Therefore, the recognition should be based on the biofeedback naturally generated by the muscles responsible of each posture. Moreover, the use of force sensor in closed-loop control scheme without operator intervention is ineffective in the special cases in which the manipulated objects vary in a wide range with different metallic characteristics. Therefore, the use of human-in-the-loop technique can imitate the natural human postures in the grasping task.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-12-2016-0356","type":"journal-article","created":{"date-parts":[[2017,7,5]],"date-time":"2017-07-05T12:20:48Z","timestamp":1499257248000},"page":"575-587","source":"Crossref","is-referenced-by-count":26,"title":["A gesture-based telemanipulation control for a robotic arm with biofeedback-based grasp"],"prefix":"10.1108","volume":"44","author":[{"given":"Yassine","family":"Bouteraa","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ismail","family":"Ben Abdallah","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"issue":"13","key":"key2020120613000282500_ref001","doi-asserted-by":"crossref","first-page":"1642","DOI":"10.1177\/0278364912464668","article-title":"Tele-impedance: teleoperation with impedance regulation using a body\u2013machine interface","volume":"31","year":"2012","journal-title":"The International Journal of Robotics Research"},{"key":"key2020120613000282500_ref002","doi-asserted-by":"crossref","first-page":"147","DOI":"10.4236\/ica.2015.62015","article-title":"Simulation and implementation of real-time vision-based control system for 2-DoF robotic arm using PID with hardware-in-the-Loop","volume":"6","year":"2015","journal-title":"Intelligent Control and Automation"},{"key":"key2020120613000282500_ref003","first-page":"16","article-title":"Rapid 3D Modeling and parts recognition on automotive vehicles using a network of RGB-D sensors for robot guidance","volume":"2013","year":"2013","journal-title":"Journal of Sensors"},{"key":"key2020120613000282500_ref004","first-page":"11","article-title":"Kinect based sliding mode control for Lynxmotion robotic arm","volume":"2016","year":"2016","journal-title":"Advances in Human-Computer Interaction"},{"first-page":"1","article-title":"Kinect-based computed torque control for Lynxmotion Robotic Arm","year":"2015","key":"key2020120613000282500_ref005"},{"key":"key2020120613000282500_ref006","first-page":"2101","article-title":"Dynamich and gesture recognition using the skeleton of the hand","volume":"13","year":"2005","journal-title":"Journal on Applied Signal Processing"},{"key":"key2020120613000282500_ref007","doi-asserted-by":"crossref","first-page":"63","DOI":"10.1186\/s12984-015-0057-x","article-title":"Clinical feasibility of interactive motion-controlled games for stroke rehabilitation","volume":"12","year":"2015","journal-title":"Journal of Neuro Engineering and Rehabilitation"},{"key":"key2020120613000282500_ref008","first-page":"18","article-title":"3D assembly group analysis for cognitive automation","volume":"2012","year":"2012","journal-title":"Journal of Robotics"},{"year":"2015","key":"key2020120613000282500_ref009","article-title":"Comparison of two strategies for handgrip force prediction based on sEMG"},{"key":"key2020120613000282500_ref010","article-title":"Intelligent approaches to interact with machines using hand gesture recognition in natural way: a survey","volume":"2","year":"2011","journal-title":"International Journal of Computer Science & Engineering Survey (IJCSES)"},{"key":"key2020120613000282500_ref011","first-page":"12","article-title":"Improving learning performance with happiness by interactive scenarios","volume":"2014","journal-title":"The Scientific World Journal"},{"edition":"2nd ed.","volume-title":"Introduction to Surface Electromyography","year":"2010","key":"key2020120613000282500_ref012"},{"first-page":"519","article-title":"A neural network approach for hand gesture recognition in virtual reality driving training system of SPG","year":"2006","key":"key2020120613000282500_ref013"},{"article-title":"An Eigenspace-based method with a user adaptation scheme for human gesture recognition by using Kinect 3D data","volume-title":"Applied Mathematical Modelling","year":"2015","key":"key2020120613000282500_ref014"},{"issue":"1","key":"key2020120613000282500_ref015","first-page":"527","article-title":"Comparison of three different techniques for camera and motion control of a teleoperated robot","volume":"58","year":"2016","journal-title":"Applied Ergonomics"},{"issue":"2","key":"key2020120613000282500_ref016","doi-asserted-by":"crossref","first-page":"150","DOI":"10.1016\/j.rcim.2013.09.003","article-title":"Markerless human\u2013robot interface for dual robot manipulators using Kinect sensor","volume":"30","year":"2014","journal-title":"Elsevier, Robotics and Computer-Integrated Manufacturing"},{"issue":"4","key":"key2020120613000282500_ref017","first-page":"9","article-title":"Haptic hand exoskeleton for precision grasp simulation","volume":"5","year":"2013","journal-title":"Journal of Mechanisms & Robotic"},{"issue":"4","key":"key2020120613000282500_ref018","doi-asserted-by":"crossref","first-page":"1062","DOI":"10.1016\/j.gaitpost.2014.01.008","article-title":"Accuracy of the Microsoft Kinect sensor for measuring movement in people with Parkinson\u2019s disease","volume":"39","year":"2014","journal-title":"Elsevier, Gait & Posture"},{"issue":"3","key":"key2020120613000282500_ref019","first-page":"156","article-title":"A multi-robot cooperation strategy for dexterous task oriented teleoperation","volume":"68","year":"2015","journal-title":"Robotics and Autonomous Systems"},{"key":"key2020120613000282500_ref020","first-page":"171","article-title":"Easy gesture recognition for Kinect","volume-title":"Advances in Engineering Software","year":"2014"},{"first-page":"3304","article-title":"Efficient grasping from RGBD images: learning using a new rectangle representation","year":"2011","key":"key2020120613000282500_ref021"},{"key":"key2020120613000282500_ref022","first-page":"16","article-title":"A navigation system for the visually impaired: a fusion of vision and depth sensor","volume":"2015","journal-title":"Applied Bionics and Biomechanics"},{"key":"key2020120613000282500_ref023","first-page":"7","article-title":"Dynamic arm gesture recognition using spherical angle features and hidden markov models","volume":"2015","journal-title":"Advances in Human-Computer Interaction"},{"issue":"6","key":"key2020120613000282500_ref024","doi-asserted-by":"crossref","first-page":"1993","DOI":"10.1007\/s00464-013-3383-8","article-title":"Kinect technology for hand tracking control of surgical robots: technical and surgical skill comparison to current robotic masters","volume":"28","year":"2014","journal-title":"Surgical Endoscopy"},{"issue":"4","key":"key2020120613000282500_ref025","doi-asserted-by":"crossref","first-page":"651","DOI":"10.1109\/TIE.2003.814767","article-title":"A two-arm situated artificial communicator for human\u2013robot cooperative assembly","volume":"50","year":"2003","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"12","key":"key2020120613000282500_ref026","doi-asserted-by":"crossref","first-page":"10489","DOI":"10.1016\/j.eswa.2012.02.081","article-title":"Handy: a real-time three color glove-based gesture recognizer with learning vector quantization","volume":"39","year":"2012","journal-title":"Expert Systems with Applications"},{"issue":"2","key":"key2020120613000282500_ref027","doi-asserted-by":"crossref","first-page":"117","DOI":"10.1080\/23080477.2015.11665645","article-title":"Kinect who\u2019s coming - applying Kinect to human body height measurement to improve character recognition performance","volume":"3","year":"2015","journal-title":"Smart Science"},{"issue":"4\/5","key":"key2020120613000282500_ref028","first-page":"705","article-title":"Deep learning for detecting robotic grasps","volume":"34","year":"2015","journal-title":"The International Journal of Robotics Research"},{"first-page":"186","article-title":"Using Kinect for face recognition under varying poses, expressions, illumination and disguise","year":"2013","key":"key2020120613000282500_ref029"},{"key":"key2020120613000282500_ref030","first-page":"13","article-title":"An augmented discrete-time approach for human-robot collaboration","volume":"2016","year":"2016","journal-title":"Discrete Dynamics in Nature and Society"},{"year":"2013","key":"key2020120613000282500_ref031","article-title":"Real time human motion imitation of anthropomorphic dual arm robot based on cartesian impedance control"},{"key":"key2020120613000282500_ref032","first-page":"107","article-title":"Detection and conditioning of the surface EMG signal","volume-title":"Electromyography: Physiology, Engineering, and Noninvasive Applications","year":"2004"},{"issue":"5","key":"key2020120613000282500_ref033","doi-asserted-by":"crossref","first-page":"303","DOI":"10.1016\/S1350-4533(99)00055-7","article-title":"A hybrid approach to EMG pattern analysis for classification of arm movements using statistical and fuzzy techniques","volume":"21","year":"1999","journal-title":"Medical Engineering and Physics"},{"key":"key2020120613000282500_ref034","first-page":"197","article-title":"Bilateral telemanipulation with a humanoid robot hand\/arm between USA and Japan","volume":"12","year":"2013","journal-title":"Intelligent Autonomous Systems"},{"issue":"7","key":"key2020120613000282500_ref035","article-title":"Kinect 4 \u2026 holographic optical tweezers","volume":"15","year":"2013","journal-title":"Journal of Optics"},{"issue":"8","key":"key2020120613000282500_ref036","doi-asserted-by":"crossref","first-page":"1956","DOI":"10.1109\/TBME.2008.919734","article-title":"Support vector machine based classification scheme for myoelectric control applied to upper limb","volume":"55","year":"2008","journal-title":"IEEE Transactions on Biomedical Engineering"},{"issue":"5","key":"key2020120613000282500_ref037","doi-asserted-by":"crossref","first-page":"799","DOI":"10.1177\/0278364913519897","article-title":"The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping","volume":"33","year":"2014","journal-title":"The International Journal of Robotics Research"},{"first-page":"599","article-title":"Grasp recognition by time-clustering, fuzzy modeling, and Hidden Markov Models (HMM) \u2013 a comparative study","year":"2008","key":"key2020120613000282500_ref038"},{"volume-title":"Anatomical Guide for the Electromyographer: The Limbs and Trunk","year":"2005","key":"key2020120613000282500_ref039"},{"key":"key2020120613000282500_ref040","first-page":"13","article-title":"Real-time obstacle detection system in indoor environment for the visually impaired using Microsoft Kinect Sensor","volume":"2016","journal-title":"Journal of Sensors"},{"issue":"1","key":"key2020120613000282500_ref041","first-page":"71","article-title":"A novel feature extraction for robust EMG pattern recognition","volume":"1","year":"2009","journal-title":"Journal of Computing"},{"issue":"12","key":"key2020120613000282500_ref042","doi-asserted-by":"crossref","first-page":"11156","DOI":"10.1016\/j.eswa.2012.03.039","article-title":"Fractal analysis features for weak and single-channel upper-limb EMG signals","volume":"39","year":"2012","journal-title":"Expert Systems with Applications"},{"issue":"8","key":"key2020120613000282500_ref043","doi-asserted-by":"crossref","first-page":"7420","DOI":"10.1016\/j.eswa.2012.01.102","article-title":"Feature reduction and selection for EMG signal classification","volume":"39","year":"2012","journal-title":"Expert Systems with Applications"},{"issue":"2","key":"key2020120613000282500_ref044","doi-asserted-by":"crossref","first-page":"131","DOI":"10.1016\/S1050-6411(96)00025-9","article-title":"A validation of techniques using surface EMG signals from dynamic contractions to quantify muscle fatigue during repetitive tasks","volume":"7","year":"1997","journal-title":"Journal of Electromyography and Kinesiology"},{"issue":"4","key":"key2020120613000282500_ref045","article-title":"Developing a gesture based remote human-robot interaction system using Kinect","volume":"7","year":"2013","journal-title":"International Journal of Smart Home"},{"first-page":"862","article-title":"High-dexterity telemanipulation robot for minimally invasive surgery","year":"2015","key":"key2020120613000282500_ref046"},{"key":"key2020120613000282500_ref047","doi-asserted-by":"crossref","first-page":"331","DOI":"10.1080\/15599610701580467","article-title":"Robot-manipulator teleoperation by markerless vision-based hand-arm tracking","volume":"1","year":"2007","journal-title":"International Journal of Optomechatronics"},{"key":"key2020120613000282500_ref048","first-page":"12","article-title":"Microsoft kinect-based artificial perception system for control of functional electrical stimulation assisted grasping","volume":"2014","journal-title":"BioMed Research International"},{"issue":"4195","key":"key2020120613000282500_ref049","first-page":"300","article-title":"Novel interfaces for remotedriving: gesture, haptic and PDA","volume":"7","year":"2000","journal-title":"SPIE Telemanipulator & Telepresence Technologies"},{"key":"key2020120613000282500_ref050","first-page":"10","article-title":"Development and evaluation of game-based learning system using the Microsoft Kinect sensor","volume":"2015","journal-title":"International Journal of Distributed Sensor Networks"},{"issue":"8","key":"key2020120613000282500_ref051","doi-asserted-by":"crossref","first-page":"916","DOI":"10.1080\/0951192X.2015.1130251","article-title":"Human\u2013robot interaction review and challenges on task planning and programming","volume":"29","year":"2016","journal-title":"International Journal of Computer Integrated Manufacturing"},{"key":"key2020120613000282500_ref052","first-page":"13","article-title":"Hybrid motion planning method for autonomous robots using Kinect based sensor fusion and virtual plane approach in dynamic environments","volume":"2015","journal-title":"Journal of Sensors"},{"issue":"4","key":"key2020120613000282500_ref053","doi-asserted-by":"crossref","first-page":"676","DOI":"10.1109\/TIE.2003.814758","article-title":"A hand-pose estimation for vision-based human interfaces","volume":"50","year":"2003","journal-title":"IEEE Transactions on Industrial Electronics"},{"year":"2011","key":"key2020120613000282500_ref054","article-title":"EMG-based teleoperation and manipulation with the DLR LWR-III"},{"key":"key2020120613000282500_ref055","first-page":"10","article-title":"Obstacles regions 3D-perception method for mobile robots based on visual saliency","volume":"2015","journal-title":"Journal of Robotics"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-12-2016-0356\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-12-2016-0356\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:40:35Z","timestamp":1753393235000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/44\/5\/575-587\/176953"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,8,21]]},"references-count":55,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2017,8,21]]}},"alternative-id":["10.1108\/IR-12-2016-0356"],"URL":"https:\/\/doi.org\/10.1108\/ir-12-2016-0356","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2017,8,21]]}}}