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Master-Slave Control System for Virtual-Physical Interactions Using Hands.

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This study integrates virtual reality with master-slave hand control to create a safer, more accurate system. The new design enhances virtual-physical interactions and improves safety in hand-controlled operations.

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Area of Science:

  • Robotics and Human-Computer Interaction
  • Safety Engineering and Virtual Reality Applications

Background:

  • Traditional master-slave control systems for hand protection present safety risks and limitations.
  • Existing technologies do not meet current production and lifestyle demands.

Purpose of the Study:

  • To design and investigate a master-slave control system for hands fused with virtual reality technology.
  • To achieve real-time capture of hand motion (position, orientation, joint angles) for virtual-physical interaction.
  • To synchronize slave interactive devices with virtual hands.

Main Methods:

  • Fusion of master-slave control technology with virtual reality.
  • Real-time motion data acquisition using a designed glove.
  • Application of amplitude limiting, jitter elimination, and complementary filtering algorithms.
  • Development of a Kalman-filtering-algorithm-based driving database.
  • Introduction of an auxiliary hand concept and stable grasp algorithms.

Main Results:

  • Stable output data for roll, pitch, and yaw within required accuracy ranges (-0.1° to 0.1°, -0.15° to 0.15°, -0.15° to 0.15°).
  • Demonstrated compatibility of the data-processing algorithm with the system's hardware platform for accuracy and denoising.
  • Successfully solved model-penetration problems and enhanced immersive virtual-physical interactions.
  • Experimental validation showed satisfactory system stability and interactivity.

Conclusions:

  • The virtual reality-based master-slave hand control system effectively enhances safety and accuracy.
  • The developed algorithms and system design improve virtual-physical interactions and user experience.
  • This technology offers a promising solution for advanced hand protection and remote manipulation tasks.