Human hand and dexterous hand coordinated servo operating system and method based on multi-information fusion

Abstract

The invention discloses a human hand and dexterous hand coordinated servo operating system and method based on multi-information fusion. The system comprises human hand flexible stretchable sensors, dexterous hand flexible stretchable sensors, flexible force touch sensors, a wireless transmission module, a dexterous hand control module and a computer module. The computer module comprises a gesturecapture module, a gesture mapping module and a grabbing state recognition module. The flexible stretchable sensors are arranged at the joints of a dexterous hand of a robot and at the joints of a flexible glove worn on a human hand, the force touch sensors are arranged at the positions of finger tips of the dexterous hand, the situation that human hand and dexterous hand operating gestures are precisely coordinated and the grabbing state of the dexterous hand on target objects is sensed can be achieved, and the human hand is supported to control the dexterous hand to stably grab the target objects.

Description

technical field [0001] The invention relates to the technical field of human-computer interaction and master-slave cooperative operation, in particular to a servo operating system based on multi-information fusion and a human-hand collaborative dexterous hand and a method thereof. technical background [0002] The purpose of the human-hand cooperative dexterous hand servo operation is to coordinate the human hand and the robot dexterous hand, and the robot dexterous hand reproduces the movement of the human hand at the remote end. General servo-operated robots are used in environments where it is difficult for people to be present, such as deep sea exploration, outer space and other fields. Human-hand cooperative robot dexterous hand operation is an advanced human-robot interaction method. Its basic concept is: on the one hand, through the multi-sensor system around the human hand and dexterous hand, the movement information of the human hand and dexterous hand is detected i...

AI Technical Summary

Problems solved by technology

The accuracy of information collection based on visual sensors is limited, and it is often impossible to accurately capture human hand gestures

The complex, multi-type and large number of non-flexible sensors pose challenges to the wearability of data gloves and the accuracy of gesture information measurement

Gesture capture and gesture collaboration based on highly coupled information such as EMG and EEG have certain deficiencies in information decoupling. For the time being, it is impossible to achieve accurate measurement of complex gesture information, and it is impossible to accurately and comprehensively perform gestures of complex human and dexterous hands. Capture and Map

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