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Real-Time Hand Gesture Telerobotic System Using the Fuzzy C-

By Juan Wachs, Uri Kartoun, Yael Edan and Helman Stern


This paper describes a teleoperation system in which an articulated robot performs a block pushing task based on hand gesture commands sent thorugh the Internet. A Fuzzy C-Means clustering method is used to classify hand postures as "gestures". The fuzzy recognition system was tested using 20 trials each of a 12 gesture vocabulary. Results revealed a recognition rate (the ratio of unclassified gestures to classified gestures) of 0.96, and a recognition accuracy (the percent of the classified gestures recognized correctly) of 100%. No gestures were recognized incorrectly. Performance times to carry out the pushing task showed rapid learning, reaching standard times within 4 to 6 trials by an inexperienced operator

Topics: E-mail, juan, kartoun, yael, helman)
Year: 2002
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