Prosthetic hand control system based on object matching and tracking

抄録

This paper presents a new control scheme for prosthetic hand. The new control scheme accepts data from a camera and an inertial measurement unit (IMU) sensor as input, which makes prosthetic hands capable of visual as well as motion sensing. The camera captures the scene where the user is willing to grasp the object. From the scene the control system recognizes the target object, extracts its surface features and estimates its pose as well as position in the scene. Then the spatial relationship is constructed between the camera (prosthetic) and the target object. With the help of IMU sensors, the relationship can be tracked and kept wherever the prosthetic hand moves even the object is out of the view range of the camera. The information of spatial relationship helps to control the hand prosthesis in a fine manner. An experiment is conducted to verify the proposed method.