Real-time gesture mapping system for a 15-DOF palm-scale bionic manipulator

Abstract

In this paper, a low-cost, high-precision, high-degree-of-freedom intelligent manipulator was developed. Specifically, a 15-DOF palm-scale bionic manipulator integrated with a vision-based gesture mapping framework is presented. The system consists of a power management module, palm module, joint module, and gesture recognition module, and can be controlled via smart devices. Experimental results demonstrate gesture-driven control with an average end-to-end response time of approximately 2s, including perception, communication, and execution delays. In addition, the system is lightweight and compact, with dimensions comparable to those of a human palm. The work demonstrates the feasibility of integrating established gesture-recognition components with a compact robotic manipulator for embedded and portable human-robot interaction.