Cooperative Work System between Human and Manipulator using Hand Gesture Instructions
Cooperative Work System between Human and Manipulator using Hand Gesture Instructions
复制标题
使用手势指令的人机协作工作系统
DOI：
10.7210/jrsj.23.761
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
T. Yoshidome
中科院分区：
文献类型：
--
作者：
N. Kawarazaki;Ichiro Hoya;K. Nishihara;T. Yoshidome
本文提出了一种使用手势指令的人机协作工作系统。我们系统的目标是机械手可以根据手势指令在同一工作空间中与人类一起工作。我们的协同工作系统由机械手、PC机和三目立体视觉硬件组成。由于系统必须识别手在三维工作空间中的位置和姿势，因此我们使用三目立体视觉硬件。 The three dimensional positions of the hand and object are obtained through range images.根据手的长度和宽度来识别手势。我们提出了将手部区域分为两个块的方法，以便快速识别手势。通过实验结果，我们将展示我们系统的有效性。
This paper provides a cooperative work system between human and manipulator using hand gesture instructions. The goal of our system is that the manipulator can work with humans in the same workspace according to the instructions of hand gestures. Our cooperative work system is composed of the manipulator, a PC and a trinocular stereovision hardware. Since the system has to recognize the position and posture of the hand in the three dimensional workspace, we use the trinocular stereovision hardware. The three dimensional positions of the hand and object are obtained through range images. The gesture is recognized based on the length and width of the hand. We propose the method in which the hand area is divided into two blocks in order to recognize the hand gesture rapidly. Through experimental results, we will show the effectiveness of our system.