Wearable robot data collection system with human-machine operation interface

A data collection system that performs data collection of human-driven robot actions for robot learning, the data collection system comprising:

• a wearable computation subsystem that is configured to be worn by a human data collector and further configured to control a data collection process by providing one or more instructions to and receiving feedback from one or more other subsystems of the data collection system;
• a human-machine operation interface subsystem that is configured to be worn by the human data collector and further configured to allow the data collector to use the human-machine operation interface to operate an attached robotic gripper to perform one or more actions;
• a user interface subsystem that is configured to receive instructions from the wearable computation subsystem that instructs the human data collector to perform the one or more actions using the human-machine operation interface subsystem and that is further configured to provide feedback related to the one or more actions to the wearable computation subsystem;
• a visual sensing subsystem that comprises one or more cameras that are configured to collect raw visual data related to a movement of the robotic gripper while performing the one or more actions;
• and
• a data collection subsystem that is configured to receive collected data related to the one or more actions from one or more of the other subsystem of the data collection system,
• wherein the human-machine operation interface subsystem is a forearm-mounted human-machine operation interface, the forearm-mounted human-machine operation interface comprising:
• a forearm stabilizer platform configured to attach to the data collector's forearm;
• a gripper support arm having a first end coupled to an end of the forearm stabilizer platform;
• a gripper coupling member coupled to a second end of the gripper support arm, the gripper coupling member being configured to couple the robotic gripper to the forearm mounted human-machine operation interface so that the data collector can operate the robotic gripper;
• and
• a grip handle that is coupled to the gripper support arm, the grip handle having mounted thereon at least one input interface, the at least one input interface being configured to receive input from the data collector that is configured to control an operation of the robotic gripper when coupled to the forearm mounted human-machine interface.