Modeling the constraints of human hand motion
HUMO '00 Proceedings of the Workshop on Human Motion (HUMO'00)
3D Hand Model Fitting for Virtual Keyboard System
WACV '07 Proceedings of the Eighth IEEE Workshop on Applications of Computer Vision
Influence of vision and haptics on plausibility of social interaction in virtual reality scenarios
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics - generating and perceiving tangible sensations: Part II
Handshake: Realistic human-robot interaction in haptic enhanced virtual reality
Presence: Teleoperators and Virtual Environments
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This work is focused on obtaining realistic human hand models that are suitable for manipulation tasks. Firstly, a 24 DOF kinematic model of the human hand is defined. This model is based on the human skeleton. Intra-finger and inter-finger constraints have been included in order to improve the movement realism. Secondly, two simplified hand descriptions (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 by which to select the hand description best suited to the features of the manipulation task.