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.