Simplified human hand models based on grasping analysis

Cobos Guzmán, Salvador and Ferre Pérez, Manuel and Aracil Santonja, Rafael (2010). Simplified human hand models based on grasping analysis. In: "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010", 18/10/2010 - 22/10/2010, Taipei, China. ISBN 978-1-4244-6674-0.

Description

Title: Simplified human hand models based on grasping analysis
Author/s:
  • Cobos Guzmán, Salvador
  • Ferre Pérez, Manuel
  • Aracil Santonja, Rafael
Item Type: Presentation at Congress or Conference (Article)
Event Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010
Event Dates: 18/10/2010 - 22/10/2010
Event Location: Taipei, China
Title of Book: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010
Date: December 2010
ISBN: 978-1-4244-6674-0
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

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Abstract

The purpose of this paper is to analyze in some depth the kinematic behaviour of the human hand, in order to obtain simplified human hand models with the minimum and optimal number of Degrees of Freedom (DoF), and thus achieving an efficient manipulation task. The statistical analysis is carried out using Principal Components Analysis (PCA). Power and precision grasps are obtained with the use of a Cyberglove and a human hand model with 24 DoF. Finally, these experiments are used to evaluate the best DoF for an appropriate manipulation.

More information

Item ID: 7955
DC Identifier: http://oa.upm.es/7955/
OAI Identifier: oai:oa.upm.es:7955
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5651479&tag=1
Deposited by: Memoria Investigacion
Deposited on: 14 Jul 2011 08:07
Last Modified: 22 Feb 2017 18:06
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