ハプティックグローブの手姿勢推定精度向上のための適応的キネマティックモデリング
Adaptive Kinematic Modeling for Improved Hand Posture Estimates Using a Haptic Glove
市販のハプティックグローブにセンサを追加し、グローブと手のキネマティックモデルを適用することで、手姿勢の計測精度を改善した研究。
著者: Kathrin Krieger, David P. Leins, Thorben Markmann, Robert Haschke, Jianxu Chen, Matthias Gunzer, Helge Ritter
分類: cs.HC, cs.RO
原文アブストラクト
Most commercially available haptic gloves compromise the accuracy of hand-posture measurements in favor of a simpler design with fewer sensors. While inaccurate posture data is often sufficient for the task at hand in biomedical settings such as VR-therapy-aided rehabilitation, measurements should be as precise as possible to digitally recreate hand postures as accurately as possible. With these applications in mind, we have added extra sensors to the commercially available Dexmo haptic glove by Dexta Robotics and applied kinematic models of the haptic glove and the user's hand to improve the accuracy of hand-posture measurements. In this work, we describe the augmentations and the kinematic modeling approach. Additionally, we present and discuss an evaluation of hand posture measurements as a proof of concept.
