Control of Simulated Arm with the Vocal Joystick

This work explores the use of the Vocal Joystick (VJ) for robotic limb control using a simulated environment. We demonstrate that continuous vocal control is suitable for realtime manipulation of a 3 joint robotic limb in 2-D. We explore several kinematic models by which joint angles are specified, introducing a hybrid system combining forward and inverse kinematic models. Beyond demonstrating the feasibility of control, our results also suggest that the standard kinematic models are preferable to the new model.