{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,3]],"date-time":"2026-03-03T16:16:32Z","timestamp":1772554592751,"version":"3.50.1"},"reference-count":33,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2021,8,31]],"date-time":"2021-08-31T00:00:00Z","timestamp":1630368000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004329","name":"Javna Agencija za Raziskovalno Dejavnost RS","doi-asserted-by":"publisher","award":["P2-0270"],"award-info":[{"award-number":["P2-0270"]}],"id":[{"id":"10.13039\/501100004329","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Increasing the accessibility of collaborative robotics requires interfaces that support intuitive teleoperation. One possibility for an intuitive interface is offered by wearable systems that measure the operator\u2019s movement and use the information for robot control. Such wearable systems should preserve the operator\u2019s movement capabilities and, thus, their ability to flexibly operate in the workspace. This paper presents a novel wireless wearable system that uses only inertial measurement units (IMUs) to determine the orientation of the operator\u2019s upper body parts. An algorithm was developed to transform the measured orientations to movement commands for an industrial collaborative robot. The algorithm includes a calibration procedure, which aligns the coordinate systems of all IMUs, the operator, and the robot, and the transformation of the operator\u2019s relative hand motions to the movement of the robot\u2019s end effector, which takes into account the operator\u2019s orientation relative to the robot. The developed system is demonstrated with an example of an industrial application in which a workpiece needs to be inserted into a fixture. The robot\u2019s motion is compared between the developed system and a standard robot controller. The results confirm that the developed system is intuitive, allows for flexible control, and is robust enough for use in industrial collaborative robotic applications.<\/jats:p>","DOI":"10.3390\/s21175871","type":"journal-article","created":{"date-parts":[[2021,8,31]],"date-time":"2021-08-31T22:58:15Z","timestamp":1630450695000},"page":"5871","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":35,"title":["A Wearable IMU System for Flexible Teleoperation of a Collaborative Industrial Robot"],"prefix":"10.3390","volume":"21","author":[{"given":"Ga\u0161per","family":"\u0160kulj","sequence":"first","affiliation":[{"name":"Faculty of Mechanical Engineering, University of Ljubljana, A\u0161ker\u010deva 6, 1000 Ljubljana, Slovenia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1720-9145","authenticated-orcid":false,"given":"Rok","family":"Vrabi\u010d","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering, University of Ljubljana, A\u0161ker\u010deva 6, 1000 Ljubljana, Slovenia"}]},{"given":"Primo\u017e","family":"Podr\u017eaj","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering, University of Ljubljana, A\u0161ker\u010deva 6, 1000 Ljubljana, Slovenia"}]}],"member":"1968","published-online":{"date-parts":[[2021,8,31]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"764","DOI":"10.1080\/01691864.2019.1636714","article-title":"Human\u2013robot interaction in industrial collaborative robotics: A literature review of the decade 2008\u20132017","volume":"33","author":"Hentout","year":"2019","journal-title":"Adv. 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