Finger Motion Measurement System for Telexistence Hand Manipulation

Yasuyuki Inoue, Fumihiro Kato, Susumu Tachi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This research focuses on finger motion measurement system of telexistence robot to realize precise hand manipulation. Wearable sensor glove which measures operator's finger joint angles is used in most cases for reproducing his/her finger motion to robot hand. However, angle-based finger motion measurement is difficult to estimate correct position of fingertip because of hand shape difference between individuals. On the other hands, optical position measurement such as motion capture can obtain exact position, but has problem of measuring stability because of occlusion. To overcome this issue, we propose a finger motion measurement system which consists of sensor glove with motion capture. To calibrate individual differences, the kinematic parameters of operator's hand such as bone length are estimated at first, and then the hand model predicts fingertip position from sensor glove data. Once the parameters are obtained, both motion capture and hand model provide position of fingertip in parallel, and the measurement becomes more stably against occlusion. The performances of the proposed system regarding parameter estimation and precision accuracy were evaluated during finger movement in 3D space.

Original languageEnglish
Title of host publication2019 22nd IEEE International Symposium on Measurement and Control in Robotics
Subtitle of host publicationRobotics for the Benefit of Humanity, ISMCR 2019
EditorsThomas L. Harman, Zafar Taqvi
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728148991
DOIs
Publication statusPublished - 2019 Sep
Externally publishedYes
Event22nd IEEE International Symposium on Measurement and Control in Robotics, ISMCR 2019 - Houston, United States
Duration: 2019 Sep 192019 Sep 21

Publication series

Name2019 22nd IEEE International Symposium on Measurement and Control in Robotics: Robotics for the Benefit of Humanity, ISMCR 2019

Conference

Conference22nd IEEE International Symposium on Measurement and Control in Robotics, ISMCR 2019
Country/TerritoryUnited States
CityHouston
Period19/9/1919/9/21

Keywords

  • motion capture
  • robot hand
  • sensor glove
  • telexistence

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Media Technology
  • Control and Optimization
  • Instrumentation

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