Dexterous hand teleoperation control method based on Kinect human hand motion capturing

A motion capture, operation control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as large delay

Active Publication Date: 2015-05-06
BEIJING UNIV OF TECH
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Problems solved by technology

In order to solve the problem of long delay, the actual situation of the dexterous hand on the scene is synthesized in the feed

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  • Dexterous hand teleoperation control method based on Kinect human hand motion capturing
  • Dexterous hand teleoperation control method based on Kinect human hand motion capturing
  • Dexterous hand teleoperation control method based on Kinect human hand motion capturing

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Embodiment Construction

[0045] The present invention will be described in further detail in conjunction with the accompanying drawings and embodiments.

[0046] figure 1 and figure 2 The system structure block diagram and the system hardware connection schematic diagram for realizing the present invention are shown respectively. This system is a master-slave teleoperation system, which includes a man-machine interface system and a telerobot dexterous hand system. The human-machine interface system consists of a Kinect sensor and a computer. Kinect sensor is used to obtain image data. The computer includes an image processing unit and a gesture recognition unit for processing image data and gesture recognition. The telerobot dexterous hand system consists of an operation control unit, a dexterous hand execution unit, and an image acquisition and processing unit. The image acquisition and processing unit includes a binocular camera, a two-degree-of-freedom platform, and a data processor. The tele...

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Abstract

The invention relates to a dexterous hand teleoperation control method based on Kinect human hand motion capturing. The hardware for realizing the method comprises a Kinect sensor, a computer and a remote robot dexterous hand system. A mixing movement outline model is used for tracking the outline of the hand, hand posture tracking is realized through a particle filter algorithm, the far-end situation is observed through feedback image information transmitted by a robot in real time, and therefore a specific operation task is implemented. Through the movement outline model combining depth information and YCbCr skin color detection space technology, the problem that a real solution can not be obtained easily when an image contains high noise or a target is provided with a weak boundary is solved. A particle filter posture detection method based on template matching is adopted, and the human hand three-dimensional posture with high-dimensional characteristics can be detected and estimated. Through a master-slave operation combining a manual control mode and a program mode, convenience and rapidness are realized, and the guiding performance and usability of human-machine interaction are represented.

Description

technical field [0001] The invention relates to the technical field of human-computer interaction and remote teleoperation robot control, in particular to a teleoperation control method for realizing multi-fingered dexterous hands by collecting gestures of human hands. Background technique [0002] With the increasing frequency of human exploration activities in complex environments, robots have shown unique advantages in dangerous tasks such as rescue and detonation. In the research of space exploration, marine development, national defense construction and other fields, a large number of intelligent robots that can work in dangerous environments are needed to complete dexterous and complex operational tasks such as machine maintenance, equipment repair, battlefield mine detection, and detonation. [0003] Teleoperation technology is to analyze the real-time on-site environmental data transmitted from the remote robot execution end, so that the operator can perform remote o...

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Application Information

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IPC IPC(8): B25J13/08B25J9/18
Inventor 于乃功郭明王新爱方林王锦默凡凡阮晓钢
Owner BEIJING UNIV OF TECH
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