FSGlove：形状認識キャリブレーションを備えた慣性式ハンドトラッキングシステム
FSGlove: An Inertial-Based Hand Tracking System with Shape-Aware Calibration
各指関節と手背にIMUを装着し、最大48自由度の手の動きを追跡しながら、微分可能最適化によるキャリブレーションで個人の手形状も同時に再構成する慣性式モーションキャプチャシステムを提案した。
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著者: Yutong Li, Jieyi Zhang, Wenqiang Xu, Tutian Tang, Cewu Lu
分類: cs.RO
原文アブストラクト
Accurate hand motion capture (MoCap) is vital for applications in robotics, virtual reality, and biomechanics, yet existing systems face limitations in capturing high-degree-of-freedom (DoF) joint kinematics and personalized hand shape. Commercial gloves offer up to 21 DoFs, which are insufficient for complex manipulations while neglecting shape variations that are critical for contact-rich tasks. We present FSGlove, an inertial-based system that simultaneously tracks up to 48 DoFs and reconstructs personalized hand shapes via DiffHCal, a novel calibration method. Each finger joint and the dorsum are equipped with IMUs, enabling high-resolution motion sensing. DiffHCal integrates with the parametric MANO model through differentiable optimization, resolving joint kinematics, shape parameters, and sensor misalignment during a single streamlined calibration. The system achieves state-of-the-art accuracy, with joint angle errors of less than 2.7 degree, and outperforms commercial alternatives in shape reconstruction and contact fidelity. FSGlove's open-source hardware and software design ensures compatibility with current VR and robotics ecosystems, while its ability to capture subtle motions (e.g., fingertip rubbing) bridges the gap between human dexterity and robotic imitation. Evaluated against Nokov optical MoCap, FSGlove advances hand tracking by unifying the kinematic and contact fidelity. Hardware design, software, and more results are available at: https://sites.google.com/view/fsglove.
