Interactive Model of Human Hand Based on 18-Sensor Data-Glove

摘要

The virtual reality technology applies in the teleoperation robot system to be possible to overcome the affection of the communication delay, and its interactive equipment data glove is used as master control device to exert human hand’s nature and delicacy in telerobot system. The characteristics and application methods of the CyberGlove made in American Immersion Corporation were introduced, then physiological structure of the human hand was analyzed, and hand movement degree of freedom was resolved into hand posture 22 degrees of freedom and space position 6 degrees of freedom. Based on the foundation of establishing virtual hand model, the data glove with 18 sensors was taken as the hand pose signal input device; the relation between the data glove and the virtual hand model were established through the human body hand kinematics model; programming through 3DS MAX and OpenGL finished the interaction between human hand and virtual hand model.