Three-dimensional non-contact measurement system of the human hands moving for teleoperating of the plural hand-robots

开发了一种无需任何设备，仅用人手就能实现手-机器人遥操作的输入设备。该系统由两台用于三维测量的CCD摄像机、图像处理器和PC机组成，分别在拇指、食指末端和拇指根部标记红、绿色和蓝色标志点，然后自动测量拇指、食指末端和拇指根部的运动。通过对人手运动的三维测量，我们确定了系统作为输入设备可以远程操作手机器人，首先我们必须知道透视变换矩阵的元素，这些元素表示三维空间（手运动空间）和二维空间（摄像机图像）之间的关系，但是知道它们是非常容易的。我们只需要调整CCD摄像机的姿态和位置，就可以拍摄到整个3D真实的空间的图像，而不需要另外的测量，就可以控制机器人。在<plus-minus>x= 100 mm，y= 60 mm，z= 100 mm的测量空间内，误差的平均值小于0.66mm，在深度方向（z）上的误差标准差为2.6mm，约为其他方向误差标准差的3倍。采样速度为10次/秒

An input device to teleoperate the hand-robot using only human hands without any devices has been developed. It consists of two CCD cameras for three-dimensional measurement, image processor and personal computer.The three kinds of landmarks (red, green and blue points) are marked on the end of thumb and index finger and the root of thumb, and then the movement of them are automatically measured. We made sure our system as an input device is avaliable to operate the hand-robot remotely by the three-dimensional measurement of human hand moving.First we have to know the elements of the perspective transformation matrixes which show the relationship between three-dimensional space (hand moving space) and two-dimensional space (camera images), but it is very easy to know them. We need only to adjust the posture and position of CCD camera in order to take the images of the whole 3D real space where the human hands move around to control robots, and need not another measurement.The results of measurements are as follows. The average of error is less than <plus-minus>0.66mm in the measurement space (x=100mm, y=60mm and z=100mm), and the standard deviation of error in the direction of the depth (z) is 2.6mm which is about 3 times that in another directions. The sampling speed is 10 times/se