Reconstructing human hand pose and configuration using a fixed-base exoskeleton

A. Pereira; G. Stillfried; T. Baker; A. Schmidt; A. Maier; B. Pleintinger; Z. Chen; T. Hulin; N. Y. Lii

doi:10.1109/ICRA.2019.8794059

Reconstructing human hand pose and configuration using a fixed-base exoskeleton

A. Pereira^*, G. Stillfried, T. Baker, A. Schmidt, A. Maier, B. Pleintinger, Z. Chen, T. Hulin, N. Y. Lii

^*Corresponding author for this work

Information and Communication Technology

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

5 Citations (Scopus)

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.

Original language	English
Title of host publication	2019 International Conference on Robotics and Automation, ICRA 2019
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	3514-3520
Number of pages	7
Volume	2019-May
ISBN (Electronic)	9781538660263
DOIs	https://doi.org/10.1109/ICRA.2019.8794059
Publication status	Published - 2019
Event	2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: 20 May 2019 → 24 May 2019

Conference

Conference	2019 International Conference on Robotics and Automation, ICRA 2019
Country/Territory	Canada
City	Montreal
Period	20/05/19 → 24/05/19

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10.1109/ICRA.2019.8794059

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Pereira, A., Stillfried, G., Baker, T., Schmidt, A., Maier, A., Pleintinger, B., Chen, Z., Hulin, T., & Lii, N. Y. (2019). Reconstructing human hand pose and configuration using a fixed-base exoskeleton. In 2019 International Conference on Robotics and Automation, ICRA 2019 (Vol. 2019-May, pp. 3514-3520). Article 8794059 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICRA.2019.8794059

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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.",

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booktitle = "2019 International Conference on Robotics and Automation, ICRA 2019",

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note = "2019 International Conference on Robotics and Automation, ICRA 2019 ; Conference date: 20-05-2019 Through 24-05-2019",

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Pereira, A, Stillfried, G, Baker, T, Schmidt, A, Maier, A, Pleintinger, B, Chen, Z, Hulin, T & Lii, NY 2019, Reconstructing human hand pose and configuration using a fixed-base exoskeleton. in 2019 International Conference on Robotics and Automation, ICRA 2019. vol. 2019-May, 8794059, Institute of Electrical and Electronics Engineers (IEEE), pp. 3514-3520, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 20/05/19. https://doi.org/10.1109/ICRA.2019.8794059

Reconstructing human hand pose and configuration using a fixed-base exoskeleton. / Pereira, A.; Stillfried, G.; Baker, T. et al.
2019 International Conference on Robotics and Automation, ICRA 2019. Vol. 2019-May Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 3514-3520 8794059.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Pereira, A.

AU - Stillfried, G.

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AU - Chen, Z.

AU - Hulin, T.

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AB - 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.

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ER -

Reconstructing human hand pose and configuration using a fixed-base exoskeleton

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