面向手势动作捕捉的传感器设计及主从手运动映射  

Sensor Design for Hand Gesture Capturing and Master-Slave Hand Motion Mapping

作　　者：张阳阳[1] 黄英[1] 刘家祥 刘平[1] 张玉刚[1] ZHANG Yangyang;HUANG Ying;LIU Jiaxiang;LIU Ping;ZHANG Yugang(School of Electronic Science & Applied Physics, Hefei University of Technology, Hefei 230009, China)

机构地区：[1]合肥工业大学电子科学与应用物理学院,安徽合肥230009

出　　处：《机器人》2019年第2期156-164,共9页Robot

基　　金：国家自然科学基金(61673369;61471155);浙江省重点研发项目(2018C01041)

摘　　要：本文针对人手和机器人灵巧手在运动学上尺寸的不一致现象带来的主从手指尖运动空间映射的不一致性进行研究.基于聚氨酯拉伸应变传感器构建了测量手指关节弯曲角度的数据手套.通过建立主从手的运动学模型,基于旋转矩阵理论及正向运动学提出了一种指尖运动轨迹计算方法及手势动作捕捉算法.基于正向运动学及逆向运动学的指尖运动映射算法建立了主从手的指尖运动空间轮廓.建立虚拟实验场景,分别针对关节角度映射算法、手势动作捕捉算法及指尖运动映射算法进行了一系列试验.通过实验得出基于聚氨酯的拉伸应变传感器具有良好的时间响应特性及电学稳定性,基于手势动作捕捉算法能够获取主从手的指尖运动空间轮廓,指尖运动轨迹的计算误差控制在2.8 mm以内.结果证明了基于手势动作捕捉算法以及指尖运动映射算法能够实现主从手指尖运动空间的一致性.This paper focuses on the inconsistency in motion spatial mapping of the master-slave fingertip caused by the inconsistent dimensions phenomenon of kinematics between human hand and robot dexterous hand. A data glove based on polyurethane strain sensors is made as data interface to measure the joint angles of the fingers. A fingertip motion trajectory calculation method and a hand gestures capturing algorithm are proposed based on rotation matrix theory and forward kinematics by establishing a master-slave kinematic model. The motion workspace boundaries of the master-slave fingertip are established by a fingertip motion mapping algorithm based on forward and inverse kinematics. A virtual experiment platform is established, and a series of experiments are performed for the joint angle mapping algorithm, the gesture motion capturing algorithm, and the fingertip motion mapping algorithm. The experiments show that the strain sensor based on polyurethane has good time response characteristic and electrical stability. The motion workspace boundaries of the master-slave fingertip are acquired based on the gesture motion capturing algorithm, and the calculation error of the fingertip motion trajectory is controlled within 2.8 mm. The results show that the combination of the hand gesture motion capturing algorithm and the fingertips motion mapping algorithm can achieve the consistency of master-slave fingertip motion space.

关 键 词：主从手 应变传感器 手势动作捕捉 运动映射 运动学 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]