Research Article

Research on Intention Flexible Mapping Algorithm for Elderly Escort Robot

Table 2

Gesture feature data table.

Gesture nameGesture semanticsFinger curvature Gesture direction

G1Drink water (s1)(67.4559, 43.5514, 32.1578, 44.4142, 44.0455) > 0,  > 0
Take medicine (s2)(42.6891, 92.1126, 58.3479, 71.6812, 68.5976) > 0,  > 0
Pour water (s3)(67.4559, 43.5514, 32.1578, 44.4142, 44.0455) < 0,  < 0

G2Shut down (s1)(68.7510, 42.5803, 30.4489, 65.6564, 53.1332) < 0,  < 0
Reduce (s2)(66.9641, 17.5849, 14.7684, 64.8448, 61.9186) < 0,  < 0

G3Go fast (s1)(46.6453, 66.5543, 43.8976, 47.8731, 44.8385) > 0,  > 0
Walk slowly (s2)(51.3915, 41.5673, 25.6352, 34.6403, 34.2732) > 0,  > 0

G4Hungry (s1)(58.6360, 15.5277, 4.3419, 15.5310, 25.0435) = 0,  = 0
stomachache (s2)(63.6511, 19.8596, 14.2232, 26.2701, 32.7044) = 0,  = 0