With the rapid advancements in three-dimensional (3D) printing, researchers have shifted their focus towards the mechanical systems and methods used in this field. While Fused Deposition Modelling (FDM) remains the dominant method, alternative printing methods such as Spatial 3DP (S-3DP) have emerged. However, the majority of existing research on 3D printing technology has been emphasizing offline control, which lacks the capability to dynamically adjust the printing path in real time. Such an limitation has resulted in a decrease in printing efficiency. Therefore, this paper proposes a human-robot interaction (HRI) method based on real-time gesture control for Robotic Spatial 3DP (RS-3DP). This method incorporates utilization of YOLOv5 and Mediapipe algorithms to recognize gestures and convert the gesture information into real-time robot operations. Results show that this approach offers a feasible solution to address the issue of discontinuous S-3DP nodes because it achieves a gesture-controlled robot movement accuracy of 91 % and an average system response time of approximately 0.54 s. The proposed HRI method represents a pioneering advancement in real-time control for RS-3DP, thereby paving the way for further exploration and development in this field.

中文翻译：

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基于实时手势控制的机器人空间3D打印人机交互研究


随着三维（3D）打印的快速发展，研究人员已将注意力转向该领域使用的机械系统和方法。虽然熔融沉积成型 (FDM) 仍然是主导方法，但空间 3DP (S-3DP) 等替代打印方法已经出现。然而，现有的3D打印技术研究大多强调离线控制，缺乏实时动态调整打印路径的能力。这种限制导致了打印效率的降低。因此，本文提出了一种基于实时手势控制的机器人空间3DP（RS-3DP）人机交互（HRI）方法。该方法结合利用YOLOv5和Mediapipe算法来识别手势并将手势信息转换为实时机器人操作。结果表明，该方法为解决 S-3DP 节点不连续的问题提供了一种可行的解决方案，因为它实现了 91% 的手势控制机器人运动精度和约 0.54 s 的平均系统响应时间。所提出的HRI方法代表了RS-3DP实时控制的开创性进步，从而为该领域的进一步探索和发展铺平了道路。