3D visual sensing of human hand for remote operation of a robotic hand

Please use this identifier to cite or link to this item: http://hdl.handle.net/10045/35735
Información del item - Informació de l'item - Item information
Title: 3D visual sensing of human hand for remote operation of a robotic hand
Authors: Gil, Pablo | Mateo Agulló, Carlos | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: RGBD | Kinect | Hand recognition | Interaction human-robot
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 2014
Publisher: InTech
Citation: Pablo Gil, Carlos Mateo and Fernando Torres. 3D Visual Sensing of the Human Hand for the Remote Operation of a Robotic Hand. Int J Adv Robot Syst, 2014, 11:26. doi:10.5772/57525
Abstract: New low cost sensors and open free libraries for 3D image processing are making important advances in robot vision applications possible, such as three-dimensional object recognition, semantic mapping, navigation and localization of robots, human detection and/or gesture recognition for human-machine interaction. In this paper, a novel method for recognizing and tracking the fingers of a human hand is presented. This method is based on point clouds from range images captured by a RGBD sensor. It works in real time and it does not require visual marks, camera calibration or previous knowledge of the environment. Moreover, it works successfully even when multiple objects appear in the scene or when the ambient light is changed. Furthermore, this method was designed to develop a human interface to control domestic or industrial devices, remotely. In this paper, the method was tested by operating a robotic hand. Firstly, the human hand was recognized and the fingers were detected. Secondly, the movement of the fingers was analysed and mapped to be imitated by a robotic hand.
Sponsor: The research leading to these results received funding from the Spanish Government and European FEDER funds (DPI2012-32390) and the Valencia Regional Government (GV2012/102 and PROMETEO/2013/085).
URI: http://hdl.handle.net/10045/35735
ISSN: 1729-8806 (Print) | 1729-8814 (Online)
DOI: 10.5772/57525
Language: eng
Type: info:eu-repo/semantics/article
Rights: © 2014 The Author(s). Licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Peer Review: si
Publisher version: http://dx.doi.org/10.5772/57525
Appears in Collections:INV - AUROVA - Artículos de Revistas

Files in This Item:
Files in This Item:
File Description SizeFormat 
Thumbnailijars_2014_doi_105772_57525.pdf1,6 MBAdobe PDFOpen Preview

This item is licensed under a Creative Commons License Creative Commons