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A data-driven kinematic model of the human hand with soft-tissue artifact compensation mechanism for grasp synergy analysis

Gabiccini, Marco und Stillfried, Georg und Marino, Hamal und Bianchi, Matteo (2013) A data-driven kinematic model of the human hand with soft-tissue artifact compensation mechanism for grasp synergy analysis. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X). IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 3-8, 2013, Tokyo, Japan. ISSN 1042-296X

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Kurzfassung

This paper presents a methodology to accurately record human finger postures during grasping. The main contribution consists of a kinematic model of the human hand reconstructed via magnetic resonance imaging of one subject that (i) is fully parameterized and can be adapted to different subjects, and (ii) is amenable to in-vivo joint angle recordings via optical tracking of markers attached to the skin. The principal novelty here is the introduction of a soft-tissue artifact compensation mechanism that can be optimally calibrated in a systematic way. The high-quality data gathered are employed to study the properties of hand postural synergies in humans, for the sake of ongoing neuro-science investigations. These data are analyzed and some comparisons with similar studies are reported. After a meaningful mapping strategy has been devised, these data could be employed to define robotic hand postures suitable to attain effective grasps, or could be used as prior knowledge in lower-dimensional, real-time avatar hand animation.

Dokumentart:Konferenzbeitrag (Vortrag)
Titel:A data-driven kinematic model of the human hand with soft-tissue artifact compensation mechanism for grasp synergy analysis
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Gabiccini, MarcoUniversity of Pisa
Stillfried, Georggeorg.stillfried@dlr.de
Marino, HamalUniversity of Pisa
Bianchi, MatteoUniversity of Pisa
Datum:2013
Erschienen in:IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X)
Referierte Publikation:Ja
In ISI Web of Science:Ja
ISSN:1042-296X
Status:veröffentlicht
Stichwörter:soft-tissue artifact, human hand kinematics, postural synergies
Veranstaltungstitel:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Veranstaltungsort:Tokyo, Japan
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:November 3-8, 2013
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Technik für Raumfahrt
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):R - Vorhaben on Orbit Servicing
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Autonomie und Fernprogrammierung
Hinterlegt von: Georg Stillfried
Hinterlegt am:17 Dez 2013 13:52
Letzte Änderung:08 Mai 2014 23:30

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