Control device and control method for robot arm

A method of controlling one or more robot arms, comprising:

• providing a control device comprising:
• an elastic member comprising a palm portion and a finger portion, the palm portion being coupled to the finger portion, the elastic member being adapted to receive at least a part of a hand of a user;
• a detecting electrode located on an inner surface of the palm portion;
• an adjustment device located at a part of the palm portion for adjusting the elastic member according to a size of the hand of the user;
• and
• a processor configured to receive one or more surface electromyogram signals for identifying the gesture of the part of body of the user and data relating to a three-dimensional motion for identifying a three-dimensional motion of the part of body of the user and provide, on bases of the one or more surface electromyogram signals and the data relating to the three-dimensional motion, control signal(s) to the one or more robot arms to control the one or more robot arms to perform the gesture and the three-dimensional motion, wherein the detecting electrode is located in a position, which is in correspondence to and at least partially overlaps with the adjustment device, on the inner surface of the palm portion;
• detecting, with the detecting electrode of the control device, the one or more surface electromyogram signals of a hand of a user to identify gestures of the hand;
• acquiring data relating to a three-dimensional motion of the hand to identify the three-dimensional motion of the hand;
• and
• providing a control signal, on the bases of the one or more surface electromyogram signals and the data relating to the three-dimensional motion, being configured to control the one or more robot arms to perform the gestures and the three-dimensional motion.