灵巧手主从操作中的人手运动跟踪与识别

Motion tracking and recognition of human hand in master-slave manipulation for dexterous hands

在灵巧手主从抓持规划系统中,一项重要的研究内容是获取人手的运动信息.利用计算机双目立体视觉系统作为灵巧手主从操作的人机接口,研究人手指尖运动实时跟踪和识别的方法,提出了一种人手指尖位置的动态识别算法及其实验系统.利用本实验系统,完成左右两像面4个目标点所用的最长识别时间为0.4ms,且人手在正常运动速度时,识别率达100%,表明本算法同时满足实时性和识别率的要求.

Acquiring the motion information of human hands is a very important research problem in the master-slave grasping system for dexterous hands. Used to be the human-computer interface for the masterslave manipulation system for dexterous hands, a binocular stereo computer vision system was investigated to track and recognize the dynamic moving fingertips of human hands. A corresponding identifying algorithm and the experimental system were proposed. Experiment results show that the longest time is 0.4 ms to simultaneously recognize the four targets in two images of left and right ones, and the recognition rate reaches 100 percent when the human hand moves in usually used speed, which illustrate that the presented method meets both the real-time and accurate requirements.