Motion Control of a Dexterous Manipulator Using Data Glove

In order to control a dexterous manipulator which is used on humanoid dual-arm robot, a data glove is developed, and its control mode is studied to realize the real-time somatosensory control of the manipulators. The flex sensors are used in data glove to obtain the motion data of human fingers. The data are collected, transmitted and processed by the Arduino Nano controller, the HC-06 Bluetooth module is used for wireless data transmission. For ease control of the dexterous hand, three kinds of grasping modes are defined, and grasping experiments are carried out. The results show that the operator can control the dexterous manipulator well by using data glove, each finger of the dexterous manipulator can be individually controlled, and the proposed control mode is an efficient way to deal with different grasp tasks.