Human-hand collaborative dexterous hand servo operating system and its method based on multi-information fusion
A technology of dexterous hands and human hands, applied in the field of human-computer interaction, can solve problems such as the inability to accurately capture human hand gestures, the limited accuracy of information collection, and the inability to achieve accurate measurement of complex gesture information.
Active Publication Date: 2020-06-26
HEFEI UNIV OF TECH
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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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Embodiment Construction
[0061] In this embodiment, a human-hand collaborative dexterous hand servo operating system based on multi-information fusion includes: human hand flexible and stretchable sensor, dexterous hand flexible and stretchable sensor, flexible force tactile sensor, wireless transmission module, dexterous hand control modules and computer modules;
[0062] The computer module includes: a gesture capture module, a gesture mapping module and a grasping state recognition module;
[0063] The flexible and stretchable sensor of the human hand is set at the joint of the flexible glove and worn on the human hand, and two flexible and stretchable sensors are set for each finger, such as Figure 4 As shown, it is used to collect the angle characteristics of human hand joints during human hand operation, and send it to the gesture capture module through the wireless transmission module;
[0064] The gesture capture module performs gesture capture on the joint information of the human hand, obt...
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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. [0002] technical background [0003] 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 de...
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IPC IPC(8): B25J3/04
CPCB25J3/04
Inventor 黄英张阳阳朱文瑾刘平刘彩霞
Owner HEFEI UNIV OF TECH