Efficient human hand kinematics for manipulation tasks

Cobos Guzmán, Salvador and Ferre Pérez, Manuel and Sanchez-Uran Gonzalez, Miguel Angel and Ortego la Moneda, Javier and Peña, César (2008). Efficient human hand kinematics for manipulation tasks. In: "IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008", 22/09/2008-26/09/2008, Niza, Francia. ISBN 978-1-4244-2057-5.

Description

Title: Efficient human hand kinematics for manipulation tasks
Author/s:
  • Cobos Guzmán, Salvador
  • Ferre Pérez, Manuel
  • Sanchez-Uran Gonzalez, Miguel Angel
  • Ortego la Moneda, Javier
  • Peña, César
Item Type: Presentation at Congress or Conference (Article)
Event Title: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008
Event Dates: 22/09/2008-26/09/2008
Event Location: Niza, Francia
Title of Book: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008.
Date: 2008
ISBN: 978-1-4244-2057-5
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (369kB) | Preview

Abstract

This work is focused on obtaining efficient human hand models that are suitable for manipulation tasks. A 24 DoF kinematic model of the human hand is defined to realistic movements. This model is based on the human skeleton. Dynamic and Static constraints have been included in order to improve the movement realism. Two simplified hand models with 9 and 6 DoF have been developed according to the constraints predefined. These simplified models involve some errors in reconstructing the hand posture. These errors are calculated with respect to the 24 DoF model and evaluated according to the hand gestures. Finally, some criteria are defined to select the hand description best suited to the features of the manipulation task.

More information

Item ID: 4040
DC Identifier: http://oa.upm.es/4040/
OAI Identifier: oai:oa.upm.es:4040
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4651053&tag=1
Deposited by: Memoria Investigacion
Deposited on: 06 Sep 2010 09:21
Last Modified: 22 Feb 2017 18:12
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM