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Master-slave dexterous hand following method and terminal equipment

A dexterous hand, master-slave technology, applied in the field of human-computer interaction, can solve the problem of insufficient accuracy and achieve the effect of precise following

Active Publication Date: 2021-07-09
INST OF APPLIED MATHEMATICS HEBEI ACADEMY OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a master-slave dexterous hand following method and terminal equipment to solve the problem of the accuracy of following dexterous hands to human hands based on bioelectric signals such as EEG and EMG in the prior art. Not tall enough

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  • Master-slave dexterous hand following method and terminal equipment
  • Master-slave dexterous hand following method and terminal equipment
  • Master-slave dexterous hand following method and terminal equipment

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Embodiment Construction

[0025] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0026] In order to illustrate the technical solutions of the present invention, specific examples are used below to illustrate.

[0027] refer to figure 1 , an embodiment of the present invention provides a master-slave dexterous hand following method, including:

[0028] S101: For each dexterous hand finger on the dexterous hand: obtain in real time the first bending angle feature of the dexter...

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Abstract

The invention is applicable to the technical field of human-computer interaction, and provides a master-slave dexterous hand following method and terminal equipment. The method comprises the following steps of: determining gesture information of a dexterous hand according to information of an angle sensor arranged on the dexterous hand; comprehensively determining gesture information of a human hand according to information of a rotation angle sensor, a first bending sensor and a second bending sensor arranged on the human hand; and then respectively determining the action direction and action time of each dexterous hand finger at the current moment according to the gesture information of each human hand finger and the gesture information of each dexterous hand finger, so that the dexterous hand can follow the human hand. According to the master-slave dexterous hand following method and the terminal equipment, various different types of sensor data are fused, so that the dexterous hand can accurately follow the human hand gesture, and the dexterous hand can be controlled by the human hand to perform effective remote grabbing operation.

Description

technical field [0001] The invention belongs to the technical field of human-computer interaction, and in particular relates to a master-slave dexterous hand following method and a terminal device. Background technique [0002] The master-slave dexterous hand gesture following system can use the highly intelligent and powerful learning ability of the human hand in the task planning of the dexterous hand, and use the hand position information and motion information of the local operator to control the remote dexterous hand. It is suitable for various Complex and harsh environment. [0003] In the prior art, it is usually based on bioelectric signals such as EEG and EMG to realize the dexterous hand following the human hand. However, due to the relatively low complete decoding rate of the above-mentioned electrical signals, there are deficiencies in information decoupling, which makes the dexterous hand to human hand gesture The following accuracy is not high enough to perfor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J3/00B25J9/16B25J13/08
CPCB25J15/0009B25J3/00B25J9/1612B25J9/1679B25J13/08
Inventor 张英坤程煜郝存明任亚恒吴立龙姚利彬赵航
Owner INST OF APPLIED MATHEMATICS HEBEI ACADEMY OF SCI
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