Teleoperated Grasping Using Data Gloves Based on Fuzzy Logic Controller

摘要

Teleoperated robots have attracted significant interest in recent years, and data gloves are one of the commonly used devices for their operation. However, existing solutions still encounter two challenges: the ways in which data gloves capture human operational intentions and achieve accurate mapping. In order to address these challenges, we propose a novel teleoperation method using data gloves based on fuzzy logic controller. Firstly, the data are collected and normalized from the flex sensors on data gloves to identify human manipulation intentions. Then, a fuzzy logic controller is designed to convert finger flexion information into motion control commands for robot arms. Finally, experiments are conducted to demonstrate the effectiveness and precision of the proposed method.