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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 and Stillfried, Georg and Marino, Hamal and 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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Abstract

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.

Document Type:Conference or Workshop Item (Speech)
Title:A data-driven kinematic model of the human hand with soft-tissue artifact compensation mechanism for grasp synergy analysis
Authors:
AuthorsInstitution or Email of Authors
Gabiccini, MarcoUniversity of Pisa
Stillfried, Georggeorg.stillfried@dlr.de
Marino, HamalUniversity of Pisa
Bianchi, MatteoUniversity of Pisa
Date:2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X)
Refereed publication:Yes
In ISI Web of Science:Yes
ISSN:1042-296X
Status:Published
Keywords:soft-tissue artifact, human hand kinematics, postural synergies
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Tokyo, Japan
Event Type:international Conference
Event Dates:November 3-8, 2013
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Autonomy and Teleoperation
Deposited By: Georg Stillfried
Deposited On:17 Dec 2013 13:52
Last Modified:08 May 2014 23:30

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