シナジーに基づく手姿勢センシング：最適なグローブ設計
Synergy-Based Hand Pose Sensing: Optimal Glove Design
人間の把持時の手の使われ方の統計的知識を利用し、手姿勢を最も正確に推定できるセンサ配置を連続・離散・ハイブリッドの場合について最適化した研究。
著者: Matteo Bianchi, Paolo Salaris, Antonio Bicchi
分類: cs.RO
原文アブストラクト
In this paper we study the problem of improving human hand pose sensing device performance by exploiting the knowledge on how humans most frequently use their hands in grasping tasks. In a companion paper we studied the problem of maximizing the reconstruction accuracy of the hand pose from partial and noisy data provided by any given pose sensing device (a sensorized "glove") taking into account statistical a priori information. In this paper we consider the dual problem of how to design pose sensing devices, i.e. how and where to place sensors on a glove, to get maximum information about the actual hand posture. We study the continuous case, whereas individual sensing elements in the glove measure a linear combination of joint angles, the discrete case, whereas each measure corresponds to a single joint angle, and the most general hybrid case, whereas both continuous and discrete sensing elements are available. The objective is to provide, for given a priori information and fixed number of measurements, the optimal design minimizing in average the reconstruction error. Solutions relying on the geometrical synergy definition as well as gradient flow-based techniques are provided. Simulations of reconstruction performance show the effectiveness of the proposed optimal design.
