HAND AND FINGER REGISTRATION FOR CONTROL APPLICATIONS
First Claim
Patent Images
1. A method of identifying one or more fingers of a hand, the method comprising:
- calculating a center position of the hand based at least on points corresponding to a plurality of the fingers;
calculating angles between the points based at least on positions of the points and the center position of the hand; and
identifying, based on the angles, which one or more fingers of the hand correspond to one or more of the points.
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Abstract
Robot control typically requires many physical joysticks, buttons and switches. We have created a dynamically resizing, ergonomic, and multi-touch (DREAM) controller that enables a software-based operator control unit (SoftOCU) using a multi-touch screen. The DREAM controller can be formed wherever a person places his or her hand on a touch screen. We have also developed an algorithm for accurate hand and finger registration that can be used to create the DREAM controller.
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Citations
26 Claims
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1. A method of identifying one or more fingers of a hand, the method comprising:
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calculating a center position of the hand based at least on points corresponding to a plurality of the fingers; calculating angles between the points based at least on positions of the points and the center position of the hand; and identifying, based on the angles, which one or more fingers of the hand correspond to one or more of the points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of determining whether fingers correspond to a right hand or a left hand, the method comprising:
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determining a first vector along a first direction between a first point, corresponding to a first finger, and a second point corresponding to a center of a hand; determining a second vector along a second direction between a third point, corresponding to a second finger, and the second point; calculating a cross product between the first and second vectors; and determining whether the fingers correspond to a right hand or a left hand based on the cross product. - View Dependent Claims (14)
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15. A method of determining whether fingers correspond to a right hand or a left hand, the method comprising:
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identifying a first finger of a hand as corresponding to a first point; identifying a second finger of the hand as corresponding to a second point; determining a third point representing a center position of the hand; and determining whether the hand is a right hand or a left hand based on the first, second and third points.
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16. A method of providing a graphical user interface, the method comprising:
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identifying which fingers of a hand correspond to a plurality of points; and displaying the graphical user interface based on positions of the plurality of points and information identifying which fingers of the hand correspond to the plurality of points. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24)
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25. A device for identifying fingers, comprising:
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an apparatus that detects points corresponding to a plurality of fingers of a hand; and a microprocessor that determines, based on angles between the points corresponding to different fingers, which one or more fingers of the hand correspond to one or more of the points. - View Dependent Claims (26)
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Specification