Development of a vision non-contact sensing system for telerobotic applications

Mansour Karkoub, M. G. Her, M. I. Ho, C. C. Huang

Research output: Contribution to journalArticle

1 Citation (Scopus)


The study presented here describes a novel vision-based motion detection system for telerobotic operations such as distant surgical procedures. The system uses a CCD camera and image processing to detect the motion of a master robot or operator. Colour tags are placed on the arm and head of a human operator to detect the up/down, right/left motion of the head as well as the right/left motion of the arm. The motion of the colour tags are used to actuate a slave robot or a remote system. The determination of the colour tags motion is achieved through image processing using eigenvectors and colour system morphology and the relative head, shoulder and wrist rotation angles through inverse dynamics and coordinate transformation. A program is used to transform this motion data into motor control commands and transmit them to a slave robot or remote system through wireless internet. The system performed well even in complex environments with errors that did not exceed 2 pixels with a response time of about 0.1 s.

Original languageEnglish
Pages (from-to)1438-1449
Number of pages12
JournalInternational Journal of Systems Science
Issue number8
Publication statusPublished - 1 Aug 2013



  • image processing
  • teleoperations
  • visual joystick

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Theoretical Computer Science
  • Computer Science Applications

Cite this