A Simple Model of the Hand for the Analysis of Object Exploration
| Autor: | van Polanen, V., Bergmann Tiest, W.M., Kappers, A.M.L., Bianchi, M., Moscatelli, A. |
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| Přispěvatelé: | Bianchi, M., Moscatelli, A., Movement Behavior, Sensorimotor Control, IBBA, Research Institute MOVE |
| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: | |
| Zdroj: | van Polanen, V, Bergmann Tiest, W M & Kappers, A M L 2016, A Simple Model of the Hand for the Analysis of Object Exploration . in M Bianchi & A Moscatelli (eds), Human and Robot Hands . Springer Series on Touch and Haptic Systems, Springer International Publishing, Switzerland, pp. 235-258 . https://doi.org/10.1007/978-3-319-26706-7_14 Springer Series on Touch and Haptic Systems ISBN: 9783319267050 Human and Robot Hands Human and Robot Hands, 235-258 STARTPAGE=235;ENDPAGE=258;TITLE=Human and Robot Hands |
| DOI: | 10.1007/978-3-319-26706-7_14 |
| Popis: | When hand motions in haptic exploration are investigated, the measure- ment methods used might actually restrict the movements or the perception. The perception might be reduced because the skin is covered, e.g. with a data glove. Also, the range of possible motions might be limited, e.g. by wired sensors. Here, a model of the hand is proposed that is calculated from data obtained from a small number of sensors (6). The palmar side of the hand is not covered by sensors or tape, leaving the skin free for cutaneous perception. The hand is then modeled as 16 rigid 3D segments, with a hand palm and 5 individual fingers with 3 phalanges each. This model can be used for movement analysis in object exploration and contact point analysis. A validation experiment of an object manipulation task and a contact analysis showed good qualitative agreement of the model with the control measure- ments. The calculations, assumptions and limitations of the model are discussed in comparison with other methods. |
| Databáze: | OpenAIRE |
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