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Updated: May 25, 2025

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Multi-Mode Hand Gesture-Based VR Locomotion Technique for Intuitive Telemanipulation Viewpoint Control in Tightly

Jaehoon Jeong1, Haegyeom Choi1, Donghun Lee1

  • 1Mechanical Engineering Department, Soongsil University, Seoul 06978, Republic of Korea.

Sensors (Basel, Switzerland)
|February 26, 2025
PubMed
Summary

This study introduces a virtual reality (VR) system using hand gestures for precise control in telemanipulation. It enhances object picking by enabling intuitive viewpoint adjustments, improving logistics task success rates.

Keywords:
VR locomotionhand gesture recognitionlogistics robotsmulti-layer perceptrontelemanipulation

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Area of Science:

  • Robotics and Human-Computer Interaction
  • Virtual Reality Applications

Background:

  • Telemanipulation with suction grippers faces challenges like object occlusion and alignment issues in logistics.
  • Precise viewpoint control is crucial for successful object-side picking tasks.

Purpose of the Study:

  • To develop an intuitive, multi-mode hand gesture-based virtual reality (VR) locomotion method for precise viewpoint control.
  • To overcome limitations in telemanipulation for logistics environments.

Main Methods:

  • Utilized a head-mounted display (HMD) camera to capture hand skeleton data.
  • Employed a multi-layer perceptron (MLP) model for classifying hand gestures into translation, rotation, and fixed modes.
  • Trained and validated the MLP model on a dataset of 4312 frames, with 666 frames for testing.

Main Results:

  • The MLP model achieved a high classification accuracy of 98.4%.
  • Precision, recall, and F1-score for gesture classification exceeded 0.98.
  • Demonstrated accurate gesture recognition and seamless mode transitions for viewpoint control.

Conclusions:

  • The proposed VR locomotion method effectively addresses challenges in telemanipulation, particularly object-side picking.
  • Accurate gesture recognition and smooth mode transitions enhance control and success rates in logistics.
  • The system offers an intuitive solution for precise viewpoint manipulation in remote robotic tasks.