Model-Based Analysis of Hand Posture
IEEE Computer Graphics and Applications
Virtual Reality Simulation Modeling for a Haptic Glove
CA '99 Proceedings of the Computer Animation
3D modeling of human hand with motion constraints
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Construction and animation of anatomically based human hand models
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
A Time-Of-Flight Depth Sensor - System Description, Issues and Solutions
CVPRW '04 Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW'04) Volume 3 - Volume 03
Digital Image Processing (3rd Edition)
Digital Image Processing (3rd Edition)
A Review on Vision-Based Full DOF Hand Motion Estimation
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
Model-Based Hand Tracking Using a Hierarchical Bayesian Filter
IEEE Transactions on Pattern Analysis and Machine Intelligence
Numerical Optimization: Theoretical and Practical Aspects (Universitext)
Numerical Optimization: Theoretical and Practical Aspects (Universitext)
Tracking hand and finger movements for behaviour analysis
Pattern Recognition Letters
A smart virtual glove for the hand telerehabilitation
Computers in Biology and Medicine
Estimating 3D hand pose using hierarchical multi-label classification
Image and Vision Computing
Vision-based hand pose estimation: A review
Computer Vision and Image Understanding
Automatic Estimation and Removal of Noise from a Single Image
IEEE Transactions on Pattern Analysis and Machine Intelligence
Predicting Missing Markers to Drive Real-Time Centre of Rotation Estimation
AMDO '08 Proceedings of the 5th international conference on Articulated Motion and Deformable Objects
A numerical hand model for a virtual glove rehabilitation system
MEMEA '09 Proceedings of the 2009 IEEE International Workshop on Medical Measurements and Applications
Depth Imaging by Combining Time-of-Flight and On-Demand Stereo
Dyn3D '09 Proceedings of the DAGM 2009 Workshop on Dynamic 3D Imaging
A variational approach to monocular hand-pose estimation
Computer Vision and Image Understanding
Gradient-based hand tracking using silhouette data
ISVC'07 Proceedings of the 3rd international conference on Advances in visual computing - Volume Part I
Characterization of a simmechanics model for a virtual glove rehabilitation system
CompIMAGE'10 Proceedings of the Second international conference on Computational Modeling of Objects Represented in Images
Inverse Kinematics of 7-DOF Robots and Limbs by Decomposition and Approximation
IEEE Transactions on Robotics
A virtual-reality-based telerehabilitation system with force feedback
IEEE Transactions on Information Technology in Biomedicine
A novel 2Dd-to-3D conversion system using edge information
IEEE Transactions on Consumer Electronics
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Post-stroke patients and people suffering from hand diseases often need rehabilitation therapy. The recovery of original skills, when possible, is closely related to the frequency, quality, and duration of rehabilitative therapy. Rehabilitation gloves are tools used both to facilitate rehabilitation and to control improvements by an evaluation system. Mechanical gloves have high cost, are often cumbersome, are not re-usable and, hence, not usable with the healthy hand to collect patient-specific hand mobility information to which rehabilitation should tend. The approach we propose is the virtual glove, a system that, unlike tools based on mechanical haptic interfaces, uses a set of video cameras surrounding the patient hand to collect a set of synchronized videos used to track hand movements. The hand tracking is associated with a numerical hand model that is used to calculate physical, geometrical and mechanical parameters, and to implement some boundary constraints such as joint dimensions, shape, joint angles, and so on. Besides being accurate, the proposed system is aimed to be low cost, not bulky (touch-less), easy to use, and re-usable. Previous works described the virtual glove general concepts, the hand model, and its characterization including system calibration strategy. The present paper provides the virtual glove overall design, both in real-time and in off-line modalities. In particular, the real-time modality is described and implemented and a marker-based hand tracking algorithm, including a marker positioning, coloring, labeling, detection and classification strategy, is presented for the off-line modality. Moreover, model based hand tracking experimental measurements are reported, discussed and compared with the corresponding poses of the real hand. An error estimation strategy is also presented and used for the collected measurements. System limitations and future work for system improvement are also discussed.