Simplified Hand Configuration for Object Manipulation

Cobos Guzmán, Salvador and Ferre Pérez, Manuel and Ortego la Moneda, Javier and Sanchez-Uran Gonzalez, Miguel Angel (2008). Simplified Hand Configuration for Object Manipulation. In: "6th International Conference, EuroHaptics 2008", 11/06/2008-13/06/2008, Madrid, España. ISBN 978-3-540-69057-3.

Description

Title: Simplified Hand Configuration for Object Manipulation
Author/s:
  • Cobos Guzmán, Salvador
  • Ferre Pérez, Manuel
  • Ortego la Moneda, Javier
  • Sanchez-Uran Gonzalez, Miguel Angel
Item Type: Presentation at Congress or Conference (Article)
Event Title: 6th International Conference, EuroHaptics 2008
Event Dates: 11/06/2008-13/06/2008
Event Location: Madrid, España
Title of Book: Haptics: Perception, Devices and Scenarios. Proceedings of 6th International Conference, EuroHaptics 2008
Date: 2008
ISBN: 978-3-540-69057-3
Subjects:
Freetext Keywords: Hand model, manipulation model, finger constraints.
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

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Abstract

This work is focused on obtaining realistic human hand models that are suitable for manipulation tasks. Firstly, a 24 DOF kinematic model of the human hand is defined. This model is based on the human skeleton. Intra-finger and inter-finger constraints have been included in order to improve the movement realism. Secondly, two simplified hand descriptions (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 by which to select the hand description best suited to the features of the manipulation task.

More information

Item ID: 4051
DC Identifier: http://oa.upm.es/4051/
OAI Identifier: oai:oa.upm.es:4051
Official URL: http://www.springerlink.com/content/6670l38254162g44/
Deposited by: Memoria Investigacion
Deposited on: 03 Sep 2010 10:43
Last Modified: 22 Feb 2017 18:15
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