期刊名称：International Journal of Advanced Computer Science and Applications(IJACSA)
印刷版ISSN：2158-107X
电子版ISSN：2156-5570
出版年度：2020
卷号：11
期号：10
DOI：10.14569/IJACSA.2020.0111088
出版社：Science and Information Society (SAI)
摘要：A novel control scheme for prosthetic hands through spatial understanding is proposed. The proposed control scheme features an imaging sensor and an inertial measurement unit (IMU) sensor, which makes prosthetic hands capable of visual and motion sensing. The imaging sensor captures the scene where the user is willing to grasp the object. The control system recognizes the target object, extracts its surface features and estimates its pose from the captured images. Then the spatial relationship is constructed between the hand and the target object. With the help of IMU sensors, the relationship can be tracked and kept wherever the prosthetic hand moves even the object is out of the view range of the camera. To interact with the user, this process is visualized using augmented reality (AR) technology. A test platform based on the proposed control scheme is developed and a case study is performed with the platform.
关键词：Prosthetic hand; vision-inertial fusion; pose estimation; motion tracking; internal measurement unit; augmented reality; control scheme; spatial features
