Real-Time Robotic Hand Control Using Hand Gestures

摘要

This paper presents a new approach for controlling robotic hand or an individual robot by merely showing hand gestures in front of a camera. With the help of this technique one can pose a hand gesture in the vision range of a robot and corresponding to this notation, desired action is performed by the robotic system. Simple video camera is used for computer vision, which helps in monitoring gesture presentation. This approach consists of four modules: (a) A real time hand gesture formation monitor and gesture capture, (b) feature extraction, (c) Pattern matching for gesture recognition, (d) Command determination corresponding to shown gesture and performing action by robotic system. Real-time hand tracking technique is used for object detection in the range of vision. If a hand gesture is shown for one second, the camera captures the gesture. Object of interest is extracted from the background and the portion of hand, representing the gesture, is cropped out using the statistical property of hand. Extracted hand gesture is matched with the stored database of hand gestures using pattern matching. Corresponding to the matched gesture, action is performed by the robot.