Review and analysis of existing methods for determining the movement of the phalanges of operator’s fingers to form the control laws of an anthropomorphic gripper in copy mode

Authors: Tevyashov G.K.
Published in issue: #8(37)/2019
DOI: 10.18698/2541-8009-2019-8-509
Category: Medical sciences | Chapter: Medical equipment and devices
Keywords: anthropomorphic gripper, gripper, computer vision system, accelerometer, resistive strain sensor, gyroscope, copy mode, motion sensing methods
Published: 07.08.2019

The article is devoted to the review and analysis of various approaches to determining the movement of the operator’s hands in order to formulate control laws for an anthropomorphic gripping device in copy mode. Authors performed a review of various to determine the movements of the phalanges of the operator’s fingers; these methods use bend sensors, a localization system for sound sources, microelectromechanical systems (MEMS sensors), rotation angle sensors, or a computer vision system. An analysis of each method is carried out, their advantages and disadvantages are revealed. The principles of operation of the master devices based on the considered methods are described. The choice is justified of methods that will be used to develop an anthropomorphic gripper operating in copy mode.

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