Human hand descriptions and gesture recognition for object manipulation

This work focuses on obtaining realistic human hand models that are suitable for manipulation tasks. A 24 degrees of freedom (DoF) kinematic model of the human hand is defined. The model reasonably satisfies realism requirements in simulation and movement. To achieve realism, intra- and inter-finger...

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Bibliographic Details
Published in:Computer methods in biomechanics and biomedical engineering 2010-06, Vol.13 (3), p.305-317
Main Authors: Cobos, Salvador, Ferre, Manuel, Ángel Sánchez-Urán, M., Ortego, Javier, Aracil, Rafael
Format: Article
Language:English
Subjects:
Anatomy
Biomechanical Phenomena
Computer applications
constraints
Discriminant Analysis
gesture recognition
Hand
Hand - physiology
hand kinematics
human hand model
Humans
Kinematics
Movement
Principal Component Analysis
Principal components analysis
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Summary:This work focuses on obtaining realistic human hand models that are suitable for manipulation tasks. A 24 degrees of freedom (DoF) kinematic model of the human hand is defined. The model reasonably satisfies realism requirements in simulation and movement. To achieve realism, intra- and inter-finger constraints are obtained. The design of the hand model with 24 DoF is based upon a morphological, physiological and anatomical study of the human hand. The model is used to develop a gesture recognition procedure that uses principal components analysis (PCA) and discriminant functions. Two simplified hand descriptions (nine and six DoF) have been developed in accordance with the constraints obtained previously. The accuracy of the simplified models is almost 5% for the nine DoF hand description and 10% for the six DoF hand description. Finally, some criteria are defined by which to select the hand description best suited to the features of the manipulation task.
ISSN:1025-5842
1476-8259
DOI:10.1080/10255840903208171