Finger Motion Measurement System for Telexistence Hand Manipulation

Yasuyuki Inoue, Fumihiro Kato, Susumu Tachi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2019 22nd IEEE International Symposium on Measurement and Control in Robotics
ホスト出版物のサブタイトルRobotics for the Benefit of Humanity, ISMCR 2019
編集者Thomas L. Harman, Zafar Taqvi
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781728148991
DOI
出版ステータスPublished - 2019 9
外部発表はい
イベント22nd IEEE International Symposium on Measurement and Control in Robotics, ISMCR 2019 - Houston, United States
継続期間: 2019 9 192019 9 21

出版物シリーズ

名前2019 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
国/地域United States
CityHouston
Period19/9/1919/9/21

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • メディア記述
  • 制御と最適化
  • 器械工学

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