Efficient Human Hand Kinematics for Manipulation Tasks

被引：77

作者：

Cobos Guzman, Salvador ^{[1
]}

Ferre, Manuel ^{[1
]}

Uran, Sanchez ^{[1
]}

Ortego, Javier ^{[1
]}

Pena, Cesar ^{[1
]}

机构：

[1] Univ Politecn Madrid, Grp Intellingent Machines, E-28006 Madrid, Spain

来源：

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年

关键词：

D O I：

10.1109/IROS.2008.4651053

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：2246 / 2251

页数：6

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