期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
DOI：10.5772/56617
语种：English
出版社：SAGE Publications
摘要：This paper presents the design and implementation of a hand-held interface system for the locomotion control of home robots. A handheld controller is proposed to implement hand motion recognition and hand motion-based robot control. The handheld controller can provide a ‘connect-and-play’ service for the users to control the home robot with visual and vibrotactile feedback. Six natural hand gestures are defined for navigating the home robots. A three-axis accelerometer is used to detect the hand motions of the user. The recorded acceleration data are analysed and classified to corresponding control commands according to their characteristic curves. A vibration motor is used to provide vibrotactile feedback to the user when an improper operation is performed. The performances of the proposed hand motion-based interface and the traditional keyboard and mouse interface have been compared in robot navigation experiments. The experimental results of home robot navigation show that the success rate of the handheld controller is 13.33% higher than the PC based controller. The precision of the handheld controller is 15.4% more than that of the PC and the execution time is 24.7% less than the PC based controller. This means that the proposed hand motion-based interface is more efficient and flexible.
关键词：Hand Motion Recognition; Home Robot; Control Interface; Handheld Controller
