7 Cooperative Welfare Robot System Using Hand Gesture Instructions

The cooperative welfare robot system is composed of the manipulator, a PC and a trinocular stereovision hardware, which has to recognize the position and posture of the hand in the three dimensional work space.

Abstract

This paper explains the cooperative work system between manipulators and humans using hand gesture instructions. The goal of our system is that the manipulator can work with humans in the same working space according to the instructions of hand gestures. Our cooperative welfare robot system is composed of the manipulator, a PC and a trinocular stereovision hardware. Since the system has to recognize the position and posture of the hand in the three dimensional work space, we use the trinocular stereovision hardware. The three dimensional positions of the hand and object are obtained through range images. The gesture is recognized based on the length and width of the hand. We propose the new method in which the hand area is divided into two blocks in order to recognize the hand gesture rapidly. Through experimental results, we will show the effectiveness of our system.