Teleoperation of a Dexterous Hand Using a Wearable Hand

The master-slave teleoperation control system is the key to realizing the dexterous hand to grasp objects stably. This paper introduces a scheme for stable remote control of multi-fingered dexterous hands through a master and slave teleoperation control system based on exoskeleton. This scheme uses an exoskeleton glove developed based on Arduino and is equipped with a BLE communication module to collect hand position data. A PC equipped with ROS is used to simulate the multi-finger dexterous hand with RVIZ, and the simulation model of the multi-finger dexterous hand is controlled by ROS node communication. After completing the above simulation work, the wearable device was used to try to grasp real objects, such as pens and water cups. The relevant experimental data are obtained, compared, and analyzed from the perspectives of accuracy and operability. Furthermore, the feasibility of the operation scheme is discussed. Lastly, different parts of the operating process, such as the degree of freedom analysis, were used to talk about the technology and challenges that lie ahead.