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Motion tracking and recognition of human hand in master-slave manipulation for dexterous hands
Li Jiting, Ren Dawei, Zhang Yuru*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� Acquiring the motion information of human hands is a very important research problem in the master-slave grasping system for dexterous hands. Used to be the human-computer interface for the master-slave manipulation system for dexterous hands, a binocular stereo computer vision system was investigated to track and recognize the dynamic moving fingertips of human hands. A corresponding identifying algorithm and the experimental system were proposed. Experiment results show that the longest time is 0.4��ms to simultaneously recognize the four targets in two images of left and right ones, and the recognition rate reaches 100 percent when the human hand moves in usually used speed, which illustrate that the presented method meets both the real-time and accurate requirements.
Keywords�� dexterous hand   computer vision   target recognition   recognition rate     
Received 2006-06-19;
Fund:

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About author: �����(1967-),Ů,������˳��,������,lijiting@buaa.edu.cn.
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�����, �δ�ΰ, ������.���������Ӳ����е������˶�������ʶ��[J]  �������պ����ѧѧ��, 2007,V33(05): 618-621
Li Jiting, Ren Dawei, Zhang Yuru.Motion tracking and recognition of human hand in master-slave manipulation for dexterous hands[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2007,V33(05): 618-621
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