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中文摘要：
为了以自然、直观的方式控制仿人机械手,提高仿人机械手的操作性能,设计和实现了基于数据手套的仿人机械手控制系统。提出了从14-传感器数据手套到仿真虚拟手和五指型仿人机械手的关节角度映射方案。设计了实时仿真控制和在线控制两类控制模式,提出的借助仿真虚拟手可及时展示控制效果,解决了在线控制仿人机械手时运动时延带来的控制不直观的问题。实验结果证明了基于数据手套的仿人机械手控制系统的正确性和实用性。
英文摘要：
In order to control a dexterous hand naturally and intuitively, and improve the operating performance of a dexterous hand, a data glove-based dexterous hand control system is designed and implemented. A mapping method of joint angles from a data glove with 14-sensors to a virtual hand and a dexterous hand with five fingers is proposed. In addition, two kinds of control modes are designed, including real-time emulation control and on-line control. In virtue of the virtual hand, the control effect of the dexterous hand is showed in time, solving the problems about not intuitive control brought from motional delay when on-line controlling the dexterous hand. Finally, the experimental results prove correctness and practicality of the control system.
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