Reconstructing human hand pose and configuration using a fixed-base exoskeleton

A. Pereira, G. Stillfried, T. Baker, A. Schmidt, A. Maier, B. Pleintinger, Z. Chen, T. Hulin, N. Y. Lii

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

Accurate real-time estimation of the pose and configuration of the human hand attached to a dexterous haptic input device is crucial to improve the interaction possibilities for teleoperation and in virtual and augmented reality. In this paper, we present an approach to reconstruct the pose of the human hand and the joint angles of the fingers when wearing a novel fixed-base (grounded) hand exoskeleton. Using a kinematic model of the human hand built from MRI data, we can reconstruct the hand pose and joint angles without sensors on the human hand, from attachment points on the first three fingers and the palm. We test the accuracy of our approach using motion capture as a ground truth. This reconstruction can be used to determine contact geometry and force-feedback from virtual or remote objects in virtual reality or teleoperation.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages3514-3520
Number of pages7
Volume2019-May
ISBN (Electronic)9781538660263
DOIs
Publication statusPublished - 1 May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 20 May 201924 May 2019

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period20/05/1924/05/19

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    Pereira, A., Stillfried, G., Baker, T., Schmidt, A., Maier, A., Pleintinger, B., Chen, Z., Hulin, T., & Lii, N. Y. (2019). Reconstructing human hand pose and configuration using a fixed-base exoskeleton. In 2019 International Conference on Robotics and Automation, ICRA 2019 (Vol. 2019-May, pp. 3514-3520). [8794059] Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICRA.2019.8794059