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

研制了一种无需任何装置，仅靠人手就能远程操作手动机器人的输入装置。它由两个用于三维测量的CCD相机、图像处理器和个人计算机组成。将三种地标（红、绿、蓝点）标记在拇指和食指的末端和拇指的根部，然后自动测量它们的运动。我们确保我们的系统作为一个输入设备，可以通过对人手移动的三维测量来远程操作手动机器人。首先我们要知道透视变换矩阵的元素，它表示三维空间（手的移动空间）和二维空间（相机图像）之间的关系，但是很容易知道。我们只需要调整CCD相机的姿态和位置，就可以拍摄到整个三维真实空间的图像，在这个空间中，人的手可以移动来控制机器人，而不需要再进行测量。测量结果如下：在测量空间（x=100mm, y=60mm, z=100mm）内误差的平均值小于<正负>0.66mm，深度(z)方向误差的标准差为2.6mm，是其他方向误差的3倍左右。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