Teleoperation of High-Speed Robot Hand with High-Speed Finger Position Recognition and High-Accuracy Grasp Type Estimation

Autor:	Yuji Yamakawa, Koki Yoshida
Jazyk:	angličtina
Rok vydání:	2022
Předmět:	teleoperation high-speed image processing machine learning finger position recognition grasp type estimation Chemical technology TP1-1185
Zdroj:	Sensors, Vol 22, Iss 10, p 3777 (2022)
Druh dokumentu:	article
ISSN:	1424-8220
DOI:	10.3390/s22103777
Popis:	This paper focuses on the teleoperation of a robot hand on the basis of finger position recognition and grasp type estimation. For the finger position recognition, we propose a new method that fuses machine learning and high-speed image-processing techniques. Furthermore, we propose a grasp type estimation method according to the results of the finger position recognition by using decision tree. We developed a teleoperation system with high speed and high responsiveness according to the results of the finger position recognition and grasp type estimation. By using the proposed method and system, we achieved teleoperation of a high-speed robot hand. In particular, we achieved teleoperated robot hand control beyond the speed of human hand motion.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/1e22782035c940d69d485e542644f4b3 Zobrazit plný text záznamu View record in DOAJ Plný text ve formátu PDF Plný text ve formátu HTML
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