增强现实机器人的虚实同步手势交互方法

打开文本图片集

关键词：增强现实；手势交互；机器人；姿态跟踪；虚实同步

中图分类号：TP391 文献标志码：A 文章编号：1001-3695（2025）08-006-2290-07

doi：10.19734/j.issn.1001-3695.2025.01.0010

Virtual-real synchronous gesture interaction method for augmented reality robot

Wang Zhenyu1，2.3， Xu Chi 2，3† ，Li Lin²，Hong Yuel （1.ColegeofIfoatioiringyngUniesitfecalTeolenang4Ca.ateKybf Robotics，hagstiuteftiecdefenin;ybotorfodro Systems，Chinese Academy ofSciences，Shenyang11O016，China）

Abstract：Toaddress theisuesofpoorpereption，lowsynchronizationaccuracy，andlowexecution eficiencyindyamic human-robot interaction withinAR scenarios，thispaper establishedan AR-based virtual-real synchronous interactionframework forrobotsandproposedavirtual-realsynchronousgesture interactionmethod.Firstly，itintroducedagesturerecognition andvirtual-realcordinate mappng method，whichutilizedposeparsingandforward/inverse kinematics matrices tomaphand gesturestorobotjoints.Thisenabledbidirectionalcontrolforvirtual-realsynchronizationandenhancedthesystem’perabilityand perceptioncapabilities.Secondly，itproposedalow-passfiteringalgorithmbasedonpositionvectors toreducenoiseinterferenceinvirtual-realinteractions，improvingthesmoothnessof human-robotinteraction.Finally，itdevelopedandexperimentallyvalidatedaprototypesystemforrobotvirtual-real interaction.Theexperimentalresultsdemonstratethatthesystem controls the maximum error in path adjustment and pose tracking within ±0.01m ，verifying the system’s applicability and high precision in achieving virtual-real synchronization for robots.

Key words：augmented reality；gesture interaction；robots；pose tracking；virtual-real synchronization

0 引言

随着智能制造的快速发展，机器人广泛应用于汽车制造、电子装配、食品加工等领域，极大地提高了生产效率和产品质量，在现代制造业中扮演着越来越重要的角色。（剩余17996字）