Dexterous hand teleoperation control method based on kinect human hand motion capture

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
CN104589356BActive Publication Date: 2016-08-24BEIJING UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
BEIJING UNIV OF TECH
Publication Date
2016-08-24

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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.
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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...

Claims

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