The Control Method of Tying Shoelaces for Robotic Hand Based on Angular Velocity Sensor

Using the human body's signals to control assistive robot has become a focus, but factors such as the way of acquiring signals and the ability to decode signals affect the accuracy of controlling robotic hand. As a wearable device, the angular velocity sensor can directly obtain the movement information of the upper limbs. This paper proposes a new control method for robotic hand based on angular velocity sensors, and this control method is applied to the operation of tying shoelaces with the robotic hand. The angular velocity sensor is used to collect the angular velocity of the human upper limb movement, and the characteristics of fingers during grabbing are analyzed by extracting the characteristic parameters of the mean, the maximum value and the difference value. The experimental results show that the accuracy of controlling robotic hand reaches 99% and the delay time of opening or closing the fingers is less than 1.5s.