Real-time hand gesture telerobotic system using fuzzy C-means clustering

Juan Wachs, Uri Kartoun, Helman Stern, Yael Edan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

26 Scopus citations

Abstract

This paper describes a teleoperation system in which an articulated robot performs a block pushing task based on hand gesture commands sent through the Internet. A Fuzzy C-Means clustering method is used to classify hand postures as "gesture commands". The fuzzy recognition system was tested using 20 trials each of a 12-gesture vocabulary. Results revealed an acceptance rate of 99.6% (percent of gestures with a sufficiently large membership value to belong to at least one of the designated classifications), and a recognition accuracy of 100% (the percent of accepted gestures classified correctly). Performance times to carry out the pushing task showed rapid learning, reaching standard times within 4 to 6 trials by an inexperienced operator.

Original languageEnglish
Title of host publicationMultimedia, Image Processing and Soft Computing
Subtitle of host publicationTrends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISSCI 2002 and IFMIP 2002
Pages403-409
Number of pages7
StatePublished - 1 Dec 2002
Event4th International Symposium on Soft Computing for Industry, ISSCI 2002 and the 3rd International Forum on Multimedia and Image Processing, IFMIP 2002, Held within the World Automation Congress, WAC 2002 - Orlando, FL, United States
Duration: 9 Jun 200213 Jun 2002

Publication series

NameMultimedia, Image Processing and Soft Computing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISSCI 2002 and IFMIP 2002
Volume13

Conference

Conference4th International Symposium on Soft Computing for Industry, ISSCI 2002 and the 3rd International Forum on Multimedia and Image Processing, IFMIP 2002, Held within the World Automation Congress, WAC 2002
Country/TerritoryUnited States
CityOrlando, FL
Period9/06/0213/06/02

Keywords

  • Fuzzy c-means
  • Gesture recognition
  • Hand gesture
  • Telerobotics

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