DocumentCode :
3221523
Title :
Real-time robot-human interaction by tracking hand movement & orientation based on morphology
Author :
Hussain, A.T. ; Said, Z. ; Ahamed, N. ; Sundaraj, K. ; Hazry, D.
Author_Institution :
Sch. of Mechatron. Eng., Univ. Malaysia Perlis (UniMAP), Arau, Malaysia
fYear :
2011
fDate :
16-18 Nov. 2011
Firstpage :
283
Lastpage :
288
Abstract :
In this paper we present a method that allows real time tracking on a hand in 3D space and notes its orientation and position accordingly, with the goal of ultimately tying it to a robotic spherical wrist as well as the wrist´s 3D position. Several image processing techniques were used in conjunction with mathematical morphological filters formulae in order to understand the hand´s position and orientation. The proposed methods have showed great success in identifying the Nonlinear systems, variable 3D levels of hand movements and rotations correctly, which could be applied in different types of robotic manipulators, computer simulations or a number of human-computer remote handling interactions. Real time took place in system response.
Keywords :
human-robot interaction; manipulators; mathematical morphology; nonlinear control systems; object tracking; position control; robot vision; 3D space; computer simulation; hand movement tracking; hand orientation tracking; hand position tracking; hand rotation; human-computer remote handling interaction; image processing technique; mathematical morphological filter formulae; nonlinear systems; real-time robot-human interaction; robotic manipulator; robotic spherical wrist; Feature extraction; Humans; Image edge detection; Image segmentation; Manipulators; Real time systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Signal and Image Processing Applications (ICSIPA), 2011 IEEE International Conference on
Conference_Location :
Kuala Lumpur
Print_ISBN :
978-1-4577-0243-3
Type :
conf
DOI :
10.1109/ICSIPA.2011.6144117
Filename :
6144117
Link To Document :
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