基于多个小型微惯性/磁强计测量单元的手势识别研究

项目名称： 基于多个小型微惯性/磁强计测量单元的手势识别研究

项目编号： No.61503212

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 其他

项目作者： 方斌

作者单位： 清华大学

项目金额： 22万元

中文摘要： 手势识别的关键是人手臂运动信息的可靠捕获及识别。本课题利用多个小型微惯性/磁强计测量单元研制新型的手势捕获装置，可以检测左右手臂、手掌和每根手指的运动状态。同时考虑测量单元自身误差和装置穿戴误差，研究整体标定的方法。针对传感信息的模态不同、数据量大、噪声干扰等问题，研究鲁棒滤波器进行数据融合。根据双臂和双手的加速度、角速度、姿态、速度、位移量等信息，将提出基于稀疏编码的手势识别算法。最后，通过手势测试实验和机械手臂的遥操作实验完成理论成果的实验验证。.通过本项目研究，可以建立一套完整的手势识别系统，能提出基于多个小型微惯性/磁强计测量单元的整体标定方法、数据融合和手势识别理论，同时为双臂、双手的运动功能评估、人-机-环的交互运动机理研究等提供可靠的基础研究数据源，促进机器人遥操作、康复工程、运动医学等多个方向发展，并且在国民经济和军事国防领域具有重要的理论意义和实际应用价值。

中文关键词： 微惯性/磁强计测量单元；手势捕获装置；整体标定；鲁棒滤波器；手势识别

英文摘要： The key of gesture recognition is the reliable human arm/hand motion capture and recognition. In this project, we use a number of small micro inertial and magnetometer measurement units to develop a new type of gesture capture device. It can detect the movement of arms, hands and fingers. Meanwhile, the errors of units, and errors of installation are considered in the global calibration method. According to the conditions like multi-modal sensing information, a large amount of data, the noise interference and other issues, a robust filter is designed for data fusion. Then the hand gesture recognition algorithm based on sparse coding will be proposed by the acceleration, angular velocity, attitude, velocity, displacement and other information of arms and hands. Finally, the teleoperation experiment and gesture testing experiment will be implemented to prove the theory..Through this project research, we will establish a complete set of gesture recognition system. The theory of the global calibration method, data fusion and gesture recognition will be proposed based on multiple micro inertial / magnetometer measuring units. Meanwhile, it can provide reliable data source for hand/arm kinematical assessment and man-machine-environment interaction mechanism research. The research will develop the multi directions as robot teleoperation, rehabilitation engineering, and sports medicine. The project has important theoretical significance and practical application value in the national economy and military field.

英文关键词： MEMS inertial/ magnetometer measurement unit;gesture capture equipment;global calibration;robust filter;gesture recognition