A Master–Slave Control Method for Dexterous Hands with Shaking Elimination Strategy

Abstract

With the limitations of the artificial intelligence, automatic control and sensor technologies, the dexterous hand in unstructured environments to achieve fully autonomous operations is still very difficult. This paper proposed a master–slave control method for dexterous hands with the combination of the data glove and the micro-stepper motor. The hardware of this method included CyberGloveII device, personal computer (PC), integrated control board (ICB), and YWZ dexterous hand (a multi-fingered robot hand with 20 active degrees of freedom (DOFs)). By the CyberGloveII device, we gained human finger joints motion data in real-time firstly, which were preprocessed by a shaking elimination algorithm to ensure the motion stability of the dexterous hand. Then, the motion data were mapped to the dexterous hand joints, respectively. A communication protocol was designed to transfer the motion data between the PC and the ICB. The motion data were transmitted into the ICB through a serial interface driving the corresponding dexterous hand joints. The experimental results showed that this method is feasible, can achieve the open-loop control of dexterous hands, and has excellent movement accuracy, real-time and stability.