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Efficient human hand kinematics for manipulation tasks
Citation
Cobos Guzmán, Salvador and Ferre Pérez, Manuel and Sánchez-Urán González, Miguel Ángel 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 |
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| Author/s: |
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| 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 |
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 |
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| DC Identifier: | https://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: | 05 Nov 2020 08:03 |
