Gesture recognition is needed for a variety of applications. One particular application of gesture-based systems is to implementIn general, hand gestures can be described by the computes has led to considerable interest in recognizfollowing four attributes: (1) hand shape (i.e. posture); ing hand gestures. For example, it is a more intuitive (2) palm orientation; (3) hand location; and (4) arm and natural way to use a so-called finger mouse that movement. The attributes can broadly be separated enables a user to specify commands and additional painto static (spatial) and dynamic (spatio-temporal) atrameters by drawing single intuitive gestures with his tributes. Generally, the values of the static attributes or her finger. A variety of gesture-based applications will be calculated directly from the data supplied by have been created so far. The use of hand gestures as the hardware, whereas the dynamic attribute values input interfaces is widely addressed in several articles will be calculated from the values of a sequence of (to name just a few here) [1]- [15].static attribute values. Since hand gestures are spatioOne particularly important application of gesturetemporally varying, the automatic gesture recognition based applications is to implement speaking aids for turns out to be very challenging. Many different apthe deaf [16]- [23]. Fig. 1
<div>This paper presents a jerk-bounded position control driver (JPC) for industrial robots. JPC provides a unified interface for tracking complex trajectories and is able to enforce dynamic constraints using motion-level control, without accessing servo-level control. Most importantly, JPC enables real-time trajectory modification. Users can overwrite the ongoing task with a new one without violating dynamic constraints. The proposed JPC is implemented and tested on the FANUC LR Mate 200id/7L robot with both artificially generated data and an interactive robot handover task. Experiments show that the proposed JPC can track complex trajectories accurately within jerk limits and seamlessly switch to new trajectory references before the ongoing task ends.</div>
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.