Towards a complete description of grasping kinematics: A framework for quantifying human grasping and manipulation

Qiushi Fu; Marco Santello

doi:10.1109/IEMBS.2011.6092033

Towards a complete description of grasping kinematics: A framework for quantifying human grasping and manipulation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper proposes a framework for tracking both human hand kinematics and object contour during grasping task. The framework is based on modeling the object as point cloud and the use of marker-based tracking. We introduce how to estimate contact sites on both the hand and object, hand enclosing space, and graspable features from recorded data. Two experiments were performed to 1) verify the accuracy of contact site estimation (less than 5 mm), and 2) validate the feature extraction. Our approach can provide significant insight into how humans plan grasping and manipulation based on object recognition.

Original language	English (US)
Title of host publication	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Pages	8247-8250
Number of pages	4
DOIs	https://doi.org/10.1109/IEMBS.2011.6092033
State	Published - 2011
Event	33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA, United States Duration: Aug 30 2011 → Sep 3 2011

Other

Other	33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
Country/Territory	United States
City	Boston, MA
Period	8/30/11 → 9/3/11

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Signal Processing
Biomedical Engineering
Health Informatics

Access to Document

10.1109/IEMBS.2011.6092033

Cite this

Towards a complete description of grasping kinematics: A framework for quantifying human grasping and manipulation. / Fu, Qiushi; Santello, Marco.
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. 2011. p. 8247-8250 6092033.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Fu, Q & Santello, M 2011, Towards a complete description of grasping kinematics: A framework for quantifying human grasping and manipulation. in Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS., 6092033, pp. 8247-8250, 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011, Boston, MA, United States, 8/30/11. https://doi.org/10.1109/IEMBS.2011.6092033

@inproceedings{ba9496ebba324cea91e3b2c7157959f4,

title = "Towards a complete description of grasping kinematics: A framework for quantifying human grasping and manipulation",

abstract = "This paper proposes a framework for tracking both human hand kinematics and object contour during grasping task. The framework is based on modeling the object as point cloud and the use of marker-based tracking. We introduce how to estimate contact sites on both the hand and object, hand enclosing space, and graspable features from recorded data. Two experiments were performed to 1) verify the accuracy of contact site estimation (less than 5 mm), and 2) validate the feature extraction. Our approach can provide significant insight into how humans plan grasping and manipulation based on object recognition.",

author = "Qiushi Fu and Marco Santello",

year = "2011",

doi = "10.1109/IEMBS.2011.6092033",

language = "English (US)",

isbn = "9781424441211",

pages = "8247--8250",

booktitle = "Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS",

note = "33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 ; Conference date: 30-08-2011 Through 03-09-2011",

}

TY - GEN

T1 - Towards a complete description of grasping kinematics

T2 - 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011

AU - Fu, Qiushi

AU - Santello, Marco

PY - 2011

Y1 - 2011

N2 - This paper proposes a framework for tracking both human hand kinematics and object contour during grasping task. The framework is based on modeling the object as point cloud and the use of marker-based tracking. We introduce how to estimate contact sites on both the hand and object, hand enclosing space, and graspable features from recorded data. Two experiments were performed to 1) verify the accuracy of contact site estimation (less than 5 mm), and 2) validate the feature extraction. Our approach can provide significant insight into how humans plan grasping and manipulation based on object recognition.

AB - This paper proposes a framework for tracking both human hand kinematics and object contour during grasping task. The framework is based on modeling the object as point cloud and the use of marker-based tracking. We introduce how to estimate contact sites on both the hand and object, hand enclosing space, and graspable features from recorded data. Two experiments were performed to 1) verify the accuracy of contact site estimation (less than 5 mm), and 2) validate the feature extraction. Our approach can provide significant insight into how humans plan grasping and manipulation based on object recognition.

UR - http://www.scopus.com/inward/record.url?scp=84055218810&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84055218810&partnerID=8YFLogxK

U2 - 10.1109/IEMBS.2011.6092033

DO - 10.1109/IEMBS.2011.6092033

M3 - Conference contribution

C2 - 22256257

SN - 9781424441211

SP - 8247

EP - 8250

BT - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS

Y2 - 30 August 2011 through 3 September 2011

ER -

Towards a complete description of grasping kinematics: A framework for quantifying human grasping and manipulation

Abstract

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this