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Specifically, a 15-DOF palm-scale bionic manipulator integrated with a vision-based gesture mapping framework is presented. The system consists of a power management module, palm module, joint module, and gesture recognition module, and can be controlled via smart devices. Experimental results demonstrate gesture-driven control with an average end-to-end response time of approximately 2s, including perception, communication, and execution delays. In addition, the system is lightweight and compact, with dimensions comparable to those of a human palm. The work demonstrates the feasibility of integrating established gesture-recognition components with a compact robotic manipulator for embedded and portable human-robot interaction.<\/jats:p>","DOI":"10.1371\/journal.pone.0358347","type":"journal-article","created":{"date-parts":[[2026,9,16]],"date-time":"2026-09-16T17:41:33Z","timestamp":1789580493000},"page":"e0358347","update-policy":"https:\/\/doi.org\/10.1371\/journal.pone.corrections_policy","source":"Crossref","is-referenced-by-count":0,"title":["Real-time gesture mapping system for a 15-DOF palm-scale bionic manipulator"],"prefix":"10.1371","volume":"21","author":[{"given":"Qunting","family":"Chen","sequence":"first","affiliation":[{"name":"College of Information Engineering, Jinhua University of Vocational Technology","place":["Zhejiang, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xinhui","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Information Engineering, Jinhua University of Vocational Technology","place":["Zhejiang, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-9087-5535","authenticated-orcid":true,"given":"Geng","family":"Chen","sequence":"additional","affiliation":[{"name":"College of New Energy Equipmnet, Zhejiang College of Security Technology","place":["Zhejiang, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"340","published-online":{"date-parts":[[2026,9,16]]},"reference":[{"issue":"24","key":"pone.0358347.ref001","first-page":"11293","article-title":"Rapid motion planning of manipulator in three-dimensional space under multiple scenes","volume":"238","author":"R Liang","year":"2024","journal-title":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"},{"issue":"2","key":"pone.0358347.ref002","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1515\/cdbme-2024-1075","article-title":"Hyper-redundant endoscopic manipulator position compensation under external load","volume":"10","author":"GA Giacoppo","year":"2024","journal-title":"Current Directions in Biomedical Engineering"},{"issue":"13","key":"pone.0358347.ref003","doi-asserted-by":"crossref","first-page":"6233","DOI":"10.3390\/s23136233","article-title":"Surgical Instrument Signaling Gesture Recognition Using Surface Electromyography Signals","volume":"23","author":"MLB Freitas","year":"2023","journal-title":"Sensors (Basel)"},{"key":"pone.0358347.ref004","doi-asserted-by":"crossref","unstructured":"Li S, Tang S. 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