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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), 2019-05-20 - 2019-05-24, 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/ | ||||||||||||||||||||||||||||||||||||||||
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| 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: |
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| 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 Start Date: | 20 May 2019 | ||||||||||||||||||||||||||||||||||||||||
| Event End Date: | 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: | 24 Apr 2024 20:37 |
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