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Fuzzy Logic For Task Space Telemanipulation Of A Five Fingered Robotic Hand, Raaghavann Srinivasan

Theses

This work presents a fuzzy logic based HandyMan (Hand gesture commands for grasping and manipulation) system to recognize the operator's hand gestures during task space telemanipulation. A combination of joint positions may be shared between at least two manipulation gestures. To avoid misinterpretation of gestures by the gesture recognition system, six new manipulation gestures were introduced. The gestures are produced by the user wearing a CyberGlove™.

This system replaces the previous HandyMan gesture recognition method. The output of the fuzzy system drives the state machines to implement the gestures with the robot hand.

The experimental results show that the proposed …