A master–slave hand operation cooperative perception system for grasping object via information fusion of flexible strain sensors

Abstract

The cooperative perception technology of master–slave hand operation provides intelligent and convenient support for people engaged in various risky and arduous tasks. This study presents a master–slave hand operation cooperative perception method for grasping objects through multi-information fusion of flexible strain sensors. A data glove and a strain sensor array are designed on stretchable strain sensors for accurate detection of master–slave hand ontology gestures. Meanwhile, a flexible tactile sensor array is proposed for dexterous hand interactive tactile perception. Furthermore, the master–slave hand gesture coordination method is presented. A method of perceiving dexterous hand grasping operation states is proposed on the basis of tactile perception arrays and clustering analysis of tactile perception sequences. Experimental results show that the proposed data glove and tactile sensor arrays exhibit good performance of master–slave hand ontology gesture perception and coordination as well as dexterous hand interactive tactile perception. The error measurements of the joint angle of master-slave hand during gesture coordination process were less than two degrees.