Hand Commanded Machine Interface (Data Glove)

Human-Robot interface is a methodology that is heavily utilized in industrial and
commercial applications such as to fulfill user needs. Different types of robotic
frameworks are designed to fulfill those needs. The aim of the work presented in this
paper is to simulate a robotic movement that emulates the movement of a human
hand (i.e. arm and fingers section). The robotic hand comprises of three fingers. The
main objective of this robotic hand simulation is to design a link between the pre
designed data glove (FYPI) to a robotic hand and imitates the movement of a human
hand.
This project presents a new simulation methodology for the human-machine
interface of robotic frameworks and control systems. The interface uses dynamic
hand gestures, relative arm position estimation in order to have control of the
Humanoid Robot used (NAO) and provides a control and visualization interface
between a human and NAO.
All the Important aspects to develop such an interface; image processing techniques,
object tracking, colour tracking, motion detection and software filters; contrast,
brightness and saturation have been explored. Seeking high ratio of faster and correct
tracking have been achieved from the experiments.
Using "Python" and some other programming IDEs (integrated developing
environments), Software simulation and hardware implementation to show the
behavior of the Data Glove will be carried.