Master-slave Control Method of Dexterous Hands Based on Data Glove

Authors

Kangjun Pan, Zhejiang Industry & Trade Vocational College, Wenzhou 325003, China;

Abstract

Abstract: With the limitations of artificial intelligence, automatic control, and sensor, the dexterous hand in unstructured environments is still very difficult to achieve fully autonomous operation. A master-slave control method of dexterous hands with the combination of data glove and stepper motors is proposed. By the CybergloveII device, human finger joints’ motion data is gathered in real time, then, the motion data are matched to the dexterous hand’ joints respectively. A communication protocol is designed to transfer the motion data between the PC and the ICB. Lastly, the motion data are transferred to the ICB through a serial interface and drive the corresponding dexterous hand’ joints motion. The experimental results show that this method is feasible, can achieve the open-loop control of dexterous hands, and has better movement accuracy, real-time and stability.

Recommended Citation

Pan, Kangjun (2019) "Master-slave Control Method of Dexterous Hands Based on Data Glove," Journal of System Simulation: Vol. 30: Iss. 7, Article 21.
DOI: 10.16182/j.issn1004731x.joss.201807021
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss7/21

First Page

2600

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201807021

Last Page

2607

CLC

TP391

Recommended Citation

Pan Kangjun. Master-slave Control Method of Dexterous Hands Based on Data Glove[J]. Journal of System Simulation, 2018, 30(7): 2600-2607.

DOI

10.16182/j.issn1004731x.joss.201807021