Abstract Space robots in the space station can assist or substitute astronauts to conduct some in-cabin tasks to alleviate the problems of heavy tasks and the limited number of astronauts in the space station. In response to these problems, a hand gesture teleoperation method is proposed for controlling of dexterous manipulators in the space station, which is based on monocular hand motion capture and video-calling tools. This method can realize free and convenient teleoperation. The work is mainly divided into two parts, which are monocular hand motion capture and teleoperation framework for dexterous manipulators. For monocular hand motion capture, a hand pose estimation method based on hand biological constraints from single RGB images is designed. On the other hand, a dexterous manipulator teleoperation framework based on hand motion capture and video-calling tools is designed. Experimental results carried out on hand pose estimation datasets proved that the proposed hand pose estimation method outperforms the state-of-the-art methods. Physical experiment on a space dexterous manipulator teleoperation platform validated the effectiveness of the proposed hand gesture teleoperation method.
Graphical abstract Display Omitted
Highlights A hand gesture teleoperation method for dexterous manipulators in space station is proposed. A 3D hand pose estimation method from single RGB images based on hand biologically inspiration is proposed. The superiority of the proposed 3D hand pose estimation method is verified on public datasets of hand pose estimation.
Hand gesture teleoperation for dexterous manipulators in space station by using monocular hand motion capture
Acta Astronautica ; 204 ; 630-639
2022-11-23
10 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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