A Teleoperation System for Dexterous Hand Control

Dexterous hand is used in many industrial and lifestyle scenarios due to its ability to simulate basic hand movements. In this paper, a dexterous hand teleoperation system is designed for high temperature and other scenarios that are not suitable for human on-site operation. The system uses an Arduino 33 Nano BLE Sense development board as the control core, five bending sensors attached to a magic glove are used to obtain the finger movement signals and transmit them to the analogue port of the control core. To obtain a smooth trajectory, the finger movement signals are filtered by a filtering algorithm and mapped to the degree of movement of the drive motors of the dexterous hand, and then transmitted to the dexterous hand via the serial port. The operator can wear the designed gloves to realize the accurate control of the dexterous hand. By using the Wi-Fi module on the control board, the control signals can also be transmitted to the Arduino cloud through the designed system, thus realizing the real-time monitoring of the operation process by the user. The experiments show that the system can effectively track the operator's five fingers and complete the monitoring in the cloud, thus fulfilling the teleoperation task.