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Hand Motion Estimation Using Image-based Reconstruction of the Forearm

Mouriki, Nikoleta (2015) Hand Motion Estimation Using Image-based Reconstruction of the Forearm. Master's. DLR-Interner Bericht. 572-2015/07.

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With the evolution of prosthetics through years, sophisticated devices, fitted to each individual’s needs, are capable to return amputees to the everyday-life they desire to have or were habituated to. Moreover, the astonishing progress in the field of computer vision has led to amazing results. Taking these as a starting point, this work focuses on exploiting a new approach to estimate the motion of the hand based on the deformations of the surface of the arm due to muscle movements. In a phychophysical experiment with ten healthy subjects, a camera captures images of the forearm, which are further processed to extract features. Visual fiducial markers, AprilTags, are created from an ordinary printer and placed on the subjects’ forearm. The AprilTag detection software computes the precise 3D position, orientation, and identity of the tags relative to the camera. As ground truth, a visual stimulus was used, avoiding the need for finger sensors (force/position sensors, datagloves, etc.). With the assistance of two regression models, one linear and one nonlinear, we can then predict the motion of the fingers. Since we seek to detect motion of tendons and muscles in the forearm, this project addresses to below- elbow amputees with some remaining musculoskeletal activity. The results are highly promising, showing an average normalized root mean square error in the range of 0.05 to 0.22.

Item URL in elib:https://elib.dlr.de/95751/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Hand Motion Estimation Using Image-based Reconstruction of the Forearm
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Mouriki, Nikoletanikoleta.mouriki (at) gmail.comUNSPECIFIED
Date:March 2015
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:human-machine interfaces, hand prothesics, rehabilitation robotics, Computer Vision
Institution:Technische Universität München
Department:Fakultät für Informatik
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 Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Nissler, Christian
Deposited On:06 Oct 2015 14:28
Last Modified:06 Oct 2015 14:28

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