关键词: 主从控制, 灵巧手, 数据手套, 步进电机

Abstract: With the limitations of artificial intelligence, automatic control, and sensor, the dexterous hand in unstructured environments is still very difficult to achieve fully autonomous operation. A master-slave control method of dexterous hands with the combination of data glove and stepper motors is proposed. By the CybergloveII device, human finger joints’ motion data is gathered in real time, then, the motion data are matched to the dexterous hand’ joints respectively. A communication protocol is designed to transfer the motion data between the PC and the ICB. Lastly, the motion data are transferred to the ICB through a serial interface and drive the corresponding dexterous hand’ joints motion. The experimental results show that this method is feasible, can achieve the open-loop control of dexterous hands, and has better movement accuracy, real-time and stability.

Key words: dexterous hand, master-slave control, data glove, stepper motor