An Anthropomorphic Hand with Five Fingers Controlled by a Motion Leap Device

Abstract

This paper presents a new solution for command and control of the one anthropomorphic gripper with five fingers intended to be used in industrial robots equipment assemblies used for achieving low and medium complexity. The command solution is based on Motion Leap device and some software module: HandCommander, HandProcessor and HandSIM. The object to be gripped is recognized, using the SpatialVision application based on the image analysis, the 3D model is loaded in the GraspIT application. The user gesture is recognized and sent to the gripping test module and the RoboHand component to grip the objects preconfigured. The object is gripped in the physical environment by the RoboHand component, the anthropomorphic gripper with five fingers. We shown as example tennis ball gripping.