TY - GEN
T1 - Finger Motion Measurement System for Telexistence Hand Manipulation
AU - Inoue, Yasuyuki
AU - Kato, Fumihiro
AU - Tachi, Susumu
N1 - Funding Information:
This research is supported by ACCEL Program from Japan Science and Techno logy Agency, JST.
Funding Information:
ACKNOWLEDGMENT This research is supported by ACCEL Program from Japan Science and Technology Agency, JST.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/9
Y1 - 2019/9
N2 - This research focuses on finger motion measurement system of telexistence robot to realize precise hand manipulation. Wearable sensor glove which measures operator's finger joint angles is used in most cases for reproducing his/her finger motion to robot hand. However, angle-based finger motion measurement is difficult to estimate correct position of fingertip because of hand shape difference between individuals. On the other hands, optical position measurement such as motion capture can obtain exact position, but has problem of measuring stability because of occlusion. To overcome this issue, we propose a finger motion measurement system which consists of sensor glove with motion capture. To calibrate individual differences, the kinematic parameters of operator's hand such as bone length are estimated at first, and then the hand model predicts fingertip position from sensor glove data. Once the parameters are obtained, both motion capture and hand model provide position of fingertip in parallel, and the measurement becomes more stably against occlusion. The performances of the proposed system regarding parameter estimation and precision accuracy were evaluated during finger movement in 3D space.
AB - This research focuses on finger motion measurement system of telexistence robot to realize precise hand manipulation. Wearable sensor glove which measures operator's finger joint angles is used in most cases for reproducing his/her finger motion to robot hand. However, angle-based finger motion measurement is difficult to estimate correct position of fingertip because of hand shape difference between individuals. On the other hands, optical position measurement such as motion capture can obtain exact position, but has problem of measuring stability because of occlusion. To overcome this issue, we propose a finger motion measurement system which consists of sensor glove with motion capture. To calibrate individual differences, the kinematic parameters of operator's hand such as bone length are estimated at first, and then the hand model predicts fingertip position from sensor glove data. Once the parameters are obtained, both motion capture and hand model provide position of fingertip in parallel, and the measurement becomes more stably against occlusion. The performances of the proposed system regarding parameter estimation and precision accuracy were evaluated during finger movement in 3D space.
KW - motion capture
KW - robot hand
KW - sensor glove
KW - telexistence
UR - http://www.scopus.com/inward/record.url?scp=85078859265&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85078859265&partnerID=8YFLogxK
U2 - 10.1109/ISMCR47492.2019.8955714
DO - 10.1109/ISMCR47492.2019.8955714
M3 - Conference contribution
AN - SCOPUS:85078859265
T3 - 2019 22nd IEEE International Symposium on Measurement and Control in Robotics: Robotics for the Benefit of Humanity, ISMCR 2019
BT - 2019 22nd IEEE International Symposium on Measurement and Control in Robotics
A2 - Harman, Thomas L.
A2 - Taqvi, Zafar
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 22nd IEEE International Symposium on Measurement and Control in Robotics, ISMCR 2019
Y2 - 19 September 2019 through 21 September 2019
ER -