{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,11]],"date-time":"2026-05-11T11:05:46Z","timestamp":1778497546006,"version":"3.51.4"},"reference-count":54,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2023,12,5]],"date-time":"2023-12-05T00:00:00Z","timestamp":1701734400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Project of Shandong High-end Medical Device Innovation and Entrepreneurship Community","award":["2022-SGTTXM-018"],"award-info":[{"award-number":["2022-SGTTXM-018"]}]},{"name":"Project of Shandong High-end Medical Device Innovation and Entrepreneurship Community","award":["CMNM-KF202103"],"award-info":[{"award-number":["CMNM-KF202103"]}]},{"name":"Open Project Program of Key Laboratory for Cross-Scale Micro and Nano Manufacturing, Ministry of Education, Changchun University of Science and Technology","award":["2022-SGTTXM-018"],"award-info":[{"award-number":["2022-SGTTXM-018"]}]},{"name":"Open Project Program of Key Laboratory for Cross-Scale Micro and Nano Manufacturing, Ministry of Education, Changchun University of Science and Technology","award":["CMNM-KF202103"],"award-info":[{"award-number":["CMNM-KF202103"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>As human\u2013robot interaction and teleoperation technologies advance, anthropomorphic control of humanoid arms has garnered increasing attention. However, accurately translating sensor-detected arm motions to the multi-degree freedom of a humanoid robotic arm is challenging, primarily due to occlusion issues with single-sensor setups, which reduce recognition accuracy. To overcome this problem, we propose a human-like arm control strategy based on multi-sensor fusion. We defined the finger bending angle to represent finger posture and employed a depth camera to capture arm movement. Consequently, we developed an arm movement tracking system and achieved anthropomorphic control of the imitation human arm. Finally, we verified our proposed method\u2019s effectiveness through a series of experiments, evaluating the system\u2019s robustness and real-time performance. The experimental results show that this control strategy can control the motion of the humanoid arm stably, and maintain a high recognition accuracy in the face of complex situations such as occlusion.<\/jats:p>","DOI":"10.3390\/biomimetics8080591","type":"journal-article","created":{"date-parts":[[2023,12,5]],"date-time":"2023-12-05T02:55:32Z","timestamp":1701744932000},"page":"591","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Whole-Body Teleoperation Control of Dual-Arm Robot Using Sensor Fusion"],"prefix":"10.3390","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-0556-258X","authenticated-orcid":false,"given":"Feilong","family":"Wang","sequence":"first","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, China"},{"name":"Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China"},{"name":"Weihai Institute for Bionics, Jilin University, Weihai 264402, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Furong","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, China"},{"name":"Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China"},{"name":"Weihai Institute for Bionics, Jilin University, Weihai 264402, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yanling","family":"Dong","sequence":"additional","affiliation":[{"name":"School of Foreign Languages, Shandong University, Jinan 250100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qi","family":"Yong","sequence":"additional","affiliation":[{"name":"ESIEE Paris, 93160 Noisy-le-Grand, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9612-8572","authenticated-orcid":false,"given":"Xiaolong","family":"Yang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, China"},{"name":"Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China"},{"name":"Weihai Institute for Bionics, Jilin University, Weihai 264402, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Long","family":"Zheng","sequence":"additional","affiliation":[{"name":"Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China"},{"name":"Weihai Institute for Bionics, Jilin University, Weihai 264402, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xinming","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6877-6783","authenticated-orcid":false,"given":"Hang","family":"Su","sequence":"additional","affiliation":[{"name":"Weihai Institute for Bionics, Jilin University, Weihai 264402, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,12,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"505","DOI":"10.1016\/j.dcan.2020.12.001","article-title":"Robot and its living space: A roadmap for robot development based on the view of living space","volume":"7","author":"Cai","year":"2021","journal-title":"Digit. 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