Human-Machine Interaction: A Vision-Based Approach for Controlling a Robotic Hand Through Human Hand Movements

摘要

An anthropomorphic robot is a mechanical device designed to perform human-like tasks, such as manipulating objects, and has been one of the significant contributions in robotics over the past 60 years. This paper presents an advanced system for controlling a robotic arm using user hand gestures and movements. It eliminates the need for traditional sensors or physical controls by implementing an intuitive approach based on MediaPipe and computer vision. The system recognizes the user’s hand movements. It translates them into commands that are sent to a microcontroller, which operates a robotic hand equipped with six servomotors: five for the fingers and one for the wrist, which stands out for its orthonormal design that avoids occlusion problems in turns of up to 180°, guaranteeing precise wrist control. Unlike conventional systems, this approach uses only a 2D camera to capture movements, simplifying design and reducing costs. The proposed system allows replicating the user’s activity with high precision, expanding the possibilities of human-robot interaction. Notably, the system has been able to replicate the user’s hand gestures with an accuracy of up to 95%.