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

Qiushi Fu, Marco Santello

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publicationProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Pages8247-8250
Number of pages4
DOIs
StatePublished - 2011
Event33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA, United States
Duration: Aug 30 2011Sep 3 2011

Other

Other33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
CountryUnited States
CityBoston, MA
Period8/30/119/3/11

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Biomedical Engineering
  • Health Informatics

Fingerprint Dive into the research topics of 'Towards a complete description of grasping kinematics: A framework for quantifying human grasping and manipulation'. Together they form a unique fingerprint.

  • Cite this

    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 (pp. 8247-8250). [6092033] https://doi.org/10.1109/IEMBS.2011.6092033