{"refrec":{"BRefID":369479,"RR":"<b>Babiarz, A.; Bieda, R.; Borowik, T.; Grzejszczak, T.; Hartwig, T.; Jaskot, K.; Kozyra, A.; Sciegienka, P.</b> (2023). Underwater manipulator that imitates the movements of the human arm. <i>Front. Mar. Sci. 10</i>: 1271185. <a href=\"https://dx.doi.org/10.3389/fmars.2023.1271185\" target=\"_blank\">https://dx.doi.org/10.3389/fmars.2023.1271185</a>","BEntID":367209,"PublicFlag":1,"CheckedFlag":0,"wosflag":1,"vabbflag":0,"RefStringPartII":". <i>Front. Mar. Sci. 10</i>: 1271185. <a href=\"https://dx.doi.org/10.3389/fmars.2023.1271185\" target=\"_blank\">https://dx.doi.org/10.3389/fmars.2023.1271185</a>","DocTypID":8,"DocType":"Journal article","MarineFlag":1,"FreshFlag":0,"BrackishFlag":0,"TerrestrialFlag":0,"Authorstring":"Babiarz, A.; Bieda, R.; Borowik, T.; Grzejszczak, T.; Hartwig, T.; Jaskot, K.; Kozyra, A.; Sciegienka, P.","OrigTitleTranslFlag":0,"Authorstringtrunc":"Babiarz, A. <i>et al.</i>","Englishabstract":"In this paper, the design of a five degrees of freedom (5DoF) underwater manipulator system is presented and discussed. The forward and inverse kinematics problem are solved and shown. Additionally, a system that mimics the human arm movements using a manipulator is proposed. In order to imitate the movement of the human arm, the layout diagram of the IMU sensors and the method of first calibration were presented. The work also presents a device with a simple haptic feedback used to facilitate control of the gripper. 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