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Reconstructing Human Hand Pose and Configuration using a Fixed-Base Exoskeleton

Pereira, Aaron and Stillfried, Georg and Baker, Thomas and Schmidt, Annika and Maier, Annika and Pleintinger, Benedikt and Chen, Zhaopeng and Hulin, Thomas and Lii, Neal Yi-Sheng (2019) Reconstructing Human Hand Pose and Configuration using a Fixed-Base Exoskeleton. In: 2019 International Conference on Robotics and Automation, ICRA 2019, pp. 3514-3520. 2019 International Conference on Robotics and Automation (ICRA), 20-24 May 2019, Montreal, QC, Canada. doi: 10.1109/ICRA.2019.8794059. ISBN 978-153866026-3. ISSN 10504729.

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Abstract

Accurate real-time estimation of the pose and configuration of the human hand attached to a dexterous haptic input device is crucial to improve the interaction possibilities for teleoperation and in virtual and augmented reality. In this paper, we present an approach to reconstruct the pose of the human hand and the joint angles of the fingers when wearing a novel fixed-base (grounded) hand exoskeleton. Using a kinematic model of the human hand built from MRI data, we can reconstruct the hand pose and joint angles without sensors on the human hand, from attachment points on the first three fingers and the palm. We test the accuracy of our approach using motion capture as a ground truth. This reconstruction can be used to determine contact geometry and force-feedback from virtual or remote objects in virtual reality or teleoperation.

Item URL in elib:https://elib.dlr.de/135170/
Document Type:Conference or Workshop Item (Speech)
Additional Information:© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Title:Reconstructing Human Hand Pose and Configuration using a Fixed-Base Exoskeleton
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Pereira, AaronUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Stillfried, GeorgUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Baker, ThomasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Schmidt, AnnikaUNSPECIFIEDhttps://orcid.org/0000-0002-4718-4201UNSPECIFIED
Maier, AnnikaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Pleintinger, BenediktUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Chen, ZhaopengUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Hulin, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-3814-075XUNSPECIFIED
Lii, Neal Yi-ShengUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:May 2019
Journal or Publication Title:2019 International Conference on Robotics and Automation, ICRA 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/ICRA.2019.8794059
Page Range:pp. 3514-3520
ISSN:10504729
ISBN:978-153866026-3
Status:Published
Keywords:inverse kinematics. hand exoskeleton
Event Title:2019 International Conference on Robotics and Automation (ICRA)
Event Location:Montreal, QC, Canada
Event Type:international Conference
Event Dates:20-24 May 2019
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Telerobotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Hulin, Dr. Thomas
Deposited On:08 Jun 2020 10:14
Last Modified:10 Mar 2022 13:47

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