{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T02:23:24Z","timestamp":1760149404331,"version":"build-2065373602"},"reference-count":34,"publisher":"MDPI AG","issue":"16","license":[{"start":{"date-parts":[[2023,8,11]],"date-time":"2023-08-11T00:00:00Z","timestamp":1691712000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Among the existing technologies for hand protection, master\u2013slave control technology has been extensively researched and applied within the field of safety engineering to mitigate the occurrence of safety incidents. However, it has been identified through research that traditional master\u2013slave control technologies no longer meet current production and lifestyle needs, and they have even begun to pose new safety risks. To resolve the safety risks exposed by traditional master\u2013slave control, this research fuses master\u2013slave control technology for hands with virtual reality technology, and the design of a master\u2013slave control system for hands based on virtual reality technology is investigated. This study aims to realize the design of a master\u2013slave control system for virtual\u2013physical interactions using hands that captures the position, orientation, and finger joint angles of the user\u2019s hand in real time and synchronizes the motion of the slave interactive device with that of a virtual hand. With amplitude limiting, jitter elimination, and a complementary filtering algorithm, the original motion data collected by the designed glove are turned into a Kalman-filtering-algorithm-based driving database, which drives the synchronous interaction of the virtual hand and a mechanical hand. As for the experimental results, the output data for the roll, pitch, and yaw were in the stable ranges of \u22120.1\u00b0 to 0.1\u00b0, \u22120.15\u00b0 to 0.15\u00b0, and \u22120.15\u00b0 to 0.15\u00b0, respectively, which met the accuracy requirements for the system\u2019s operation under different conditions. More importantly, these data prove that, in terms of accuracy and denoising, the data-processing algorithm was relatively compatible with the hardware platform of the system. Based on the algorithm for the virtual\u2013physical interaction model, the authors introduced the concept of an auxiliary hand into the research, put forward an algorithmic process and a judgement condition for the stable grasp of the virtual hand\u2019s, and solved a model-penetrating problem while enhancing the immersive experience during virtual\u2013physical interactions. In an interactive experiment, a dynamic accuracy test was run on the system. As shown by the experimental data and the interactive effect, the system was satisfactorily stable and interactive.<\/jats:p>","DOI":"10.3390\/s23167107","type":"journal-article","created":{"date-parts":[[2023,8,11]],"date-time":"2023-08-11T12:10:23Z","timestamp":1691755823000},"page":"7107","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Master\u2013Slave Control System for Virtual\u2013Physical Interactions Using Hands"],"prefix":"10.3390","volume":"23","author":[{"given":"Siyuan","family":"Liu","sequence":"first","affiliation":[{"name":"Test Automation and Control Institute, Harbin Institute of Technology, Harbin 150006, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chao","family":"Sun","sequence":"additional","affiliation":[{"name":"Test Automation and Control Institute, Harbin Institute of Technology, Harbin 150006, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,8,11]]},"reference":[{"key":"ref_1","first-page":"1401","article-title":"Unity game engine: Interactive software design using digital glove for virtual reality baseball pitch training","volume":"24","author":"Tsai","year":"2019","journal-title":"Microsyst. Technol."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"7620","DOI":"10.1109\/JSEN.2020.3046521","article-title":"Design and evaluation of an FBG sensor-based glove to simultaneously monitor flexure of ten finger joints","volume":"21","author":"Jha","year":"2020","journal-title":"IEEE Sens. J."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Kim, H., and Choi, Y. (2019). Performance Comparison of User Interface Devices for Controlling Mining Software in Virtual Reality Environments. Appl. Sci., 9.","DOI":"10.3390\/app9132584"},{"key":"ref_4","first-page":"2945","article-title":"The Key technologies of human-computer interaction based on virtual hand","volume":"35","author":"Xiao","year":"2015","journal-title":"Comput. Appl."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"403","DOI":"10.1162\/pres.1995.4.4.403","article-title":"A two-handed interface for object manipulation in virtual environments","volume":"4","author":"Mapes","year":"1995","journal-title":"Presence Teleoperators Virtual Environ."},{"key":"ref_6","first-page":"30","article-title":"Proposal and evaluation of a tablet-based tool for 3D virtual environments","volume":"4","author":"Medeiros","year":"2013","journal-title":"SBC J. Interact. Syst."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"e1820","DOI":"10.1002\/cav.1820","article-title":"Physics-based assistive grasping for robust object manipulation in virtual reality","volume":"29","author":"Nasim","year":"2018","journal-title":"Comput. Animat. Virtual Worlds"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"166603","DOI":"10.1016\/j.ijleo.2021.166603","article-title":"Optical fiber data glove for hand posture capture","volume":"233","author":"Li","year":"2021","journal-title":"Opt.-Int. J. Light Electron Opt."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"155","DOI":"10.1108\/IR-07-2016-0179","article-title":"A novel data glove using inertial and magnetic sensors for motion capture and robotic arm-hand teleoperation","volume":"44","author":"Fang","year":"2017","journal-title":"Ind. Robot. Int. J."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"534","DOI":"10.1166\/asl.2012.3953","article-title":"Probability Distribution of Arm Trajectory for Motion Estimation and Gesture Recognition","volume":"13","author":"Wan","year":"2012","journal-title":"Adv. Sci. Lett."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1016\/j.imavis.2019.06.003","article-title":"Hand Pose Estimation and Tracking in Real and Virtual Interaction: A Review","volume":"89","author":"Ahmad","year":"2019","journal-title":"Image Vis. Comput."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"119","DOI":"10.1016\/j.sna.2013.10.030","article-title":"A novel array of flex sensors for a goniometric glove","volume":"205","author":"Saggio","year":"2014","journal-title":"Sens. Actuators A Phys."},{"key":"ref_13","unstructured":"Yang, W.K. (2021). Research on Attitude Recognition and Robot Tracking Control System. [Master\u2019s Thesis, Jilin University]."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"437","DOI":"10.9728\/dcs.2021.22.3.437","article-title":"An Effective Recognition Method of the Gripping Motion Using a Data Gloves in a Virtual Reality Space","volume":"22","author":"Lee","year":"2021","journal-title":"J. Digit. Contents Soc."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"311","DOI":"10.1109\/TSMCC.2007.893280","article-title":"Gesture recognition: A survey","volume":"37","author":"Mitra","year":"2007","journal-title":"IEEE Trans. Syst. Man Cybern."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"714","DOI":"10.1016\/j.sigpro.2014.12.004","article-title":"Haptic rendering method based on generalized penetration depth computation","volume":"120","author":"Li","year":"2016","journal-title":"Signal Process."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"1687814016688859","DOI":"10.1177\/1687814016688859","article-title":"A novel under-actuated bionic hand and its grasping stability analysis","volume":"9","author":"Li","year":"2017","journal-title":"Adv. Mech. Eng."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1131","DOI":"10.1016\/j.imavis.2005.07.010","article-title":"Hand tracking in bimanual movements","volume":"23","author":"Shamaie","year":"2005","journal-title":"Image Vis. Comput."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"110","DOI":"10.1109\/MRA.2004.1371616","article-title":"Graspit! a versatile simulator for robotic grasping","volume":"11","author":"Miller","year":"2004","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_20","first-page":"85","article-title":"Design of Motion Capture System Based on MEMS Inertial Measurement Units","volume":"277","author":"Zhang","year":"2017","journal-title":"Autom. Panor."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"637","DOI":"10.3389\/fnins.2020.00637","article-title":"Hand-gesture recognition based on EMG and event-based camera sensor fusion: A benchmark in neuromorphic computing","volume":"14","author":"Ceolini","year":"2020","journal-title":"Front. Neurosci."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"257","DOI":"10.1007\/s00371-016-1333-x","article-title":"Grasp planning via hand-object geometric fitting","volume":"34","author":"Song","year":"2018","journal-title":"Vis. Computer"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"2623","DOI":"10.1109\/TVCG.2018.2849381","article-title":"Realtime hand-object interaction using learned grasp space for virtual environments","volume":"25","author":"Tian","year":"2018","journal-title":"IEEE Trans. Vis. Comput. Graph."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Silva, L., Dantas, R., and Pantoja, A. (2013, January 15\u201317). Development of a low cost dataglove based on arduino for virtual reality applications. Proceedings of the 2013 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA), Milan, Italy.","DOI":"10.1109\/CIVEMSA.2013.6617395"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"057002","DOI":"10.1088\/1361-665X\/aa6b64","article-title":"Human\u2013computer interface glove using flexible piezoelectric sensors","volume":"26","author":"Cha","year":"2017","journal-title":"Smart Mater. Struct."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Hilman, M., Basuki, D.K., and Sukaridhoto, S. (2018, January 29\u201330). Virtual hand: VR hand controller using IMU and flex sensor. Proceedings of the International Electronics Symposium on Knowledge Creation and Intelligent Computing (IES-KCIC), Roma, Italy.","DOI":"10.1109\/KCIC.2018.8628594"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"77","DOI":"10.1016\/j.cag.2019.07.003","article-title":"A visually realistic grasping system for object manipulation and interaction in virtual reality environments","volume":"83","author":"Oprea","year":"2019","journal-title":"Computer Graph."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"9504","DOI":"10.1109\/JSEN.2019.2924797","article-title":"Tracing the Motion of Finger Joints for Gesture Recognition via Sewing RGO-Coated Fibers onto a Textile Glove","volume":"19","author":"Huang","year":"2019","journal-title":"IEEE Sens. J."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"6411","DOI":"10.3390\/s22176411","article-title":"Attitude Solving Algorithm and FPGA Implementation of Four-Rotor UAV Based on Improved Mahony Complementary Filter","volume":"22","author":"Yan","year":"2022","journal-title":"Sensors"},{"key":"ref_30","first-page":"18115","article-title":"Hand-Finger Pose Estimation Using Inertial Sensors","volume":"21","author":"Yang","year":"2021","journal-title":"Magn. Sens. A Magnet."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"181","DOI":"10.1016\/j.patrec.2021.04.017","article-title":"Object recognition in performed basic daily activities with a handcrafted data glove prototype","volume":"147","author":"Maitre","year":"2021","journal-title":"Pattern Recognit. Lett."},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Sim, D., Baek, Y., and Cho, M. (2021). Low-Latency Haptic Open Glove for Immersive Virtual Reality Interaction. Sensors, 21.","DOI":"10.3390\/s21113682"},{"key":"ref_33","first-page":"48","article-title":"Design and Implementation of Collision Detection System in Virtual Simulation","volume":"25","author":"Wen","year":"2017","journal-title":"J. Beijing Inst. Petro-Chem. Technol."},{"key":"ref_34","unstructured":"Ling, Z. (2022). Research and Application of Hybrid Bounding Box Collision Detection Algorithm in Virtual Environment. [Master\u2019s Thesis, Hangzhou DianZi University]."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/16\/7107\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T20:31:22Z","timestamp":1760128282000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/16\/7107"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8,11]]},"references-count":34,"journal-issue":{"issue":"16","published-online":{"date-parts":[[2023,8]]}},"alternative-id":["s23167107"],"URL":"https:\/\/doi.org\/10.3390\/s23167107","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2023,8,11]]}}}