Calibrating the Human Hand for Haptic Interfaces

Determination of human hand poses from hand master measurements of joint angles requires an accurate human hand model for each operator. A new method for human hand calibration is proposed, based on open-loop kinematic calibration. The parameters of a kinematic model of the human index finger are determined as an example. Singular value decomposition is used as a tool for analyzing the kinematic model and the identification process. It was found that accurate and reliable results are obtained only when the numerical condition is minimized through parameter scaling, model reduction and pose set selection. The identified kinematic parameters of the index finger with the Utah Dextrous Hand Master show that the kinematic model and the calibration procedure have an accuracy of about 2 mm.

Download Full-text

Modeling Human Hand and Sensing Hand Motions With the Five-Fingered Haptic Glove Mechanism

Volume 5A: 38th Mechanisms and Robotics Conference ◽

10.1115/detc2014-34675 ◽

2014 ◽

Cited By ~ 1

Author(s):

Zhou Ma ◽

Pinhas Ben-Tzvi ◽

Jerome Danoff

Keyword(s):

Kinematic Model ◽

Human Hand ◽

Finger Length ◽

Hand Model ◽

Fitting Procedure ◽

Joint Location ◽

Actuator System ◽

Novel Method ◽

Sense Of Touch ◽

Human Hand Model

This paper presents the design and application of a newly developed five-fingered haptic glove mechanism. This haptic device is a lightweight and portable actuator system that fits on a hand. The new five-fingered glove is adaptable to a wide variety of finger sizes, without constraining the range of motion which makes it possible to accurately and comfortably track the complex motion of the finger joints and add a sense of touch to each finger of the user. Based on this glove, a novel method was developed to build an accurate human hand model which includes finger length and joints location. The parameters of the hand are determined by a circle fitting procedure from a collection of points. The method of least squares fitting of circles is used to analyze the kinematic model. The center and the radius of the fitting circle are the joint location and the finger length respectively. The experimental results demonstrate that the newly developed five-fingered glove is capable of reliably modeling hand kinematics and measuring fingers’ motion. These capabilities are often needed for monitoring and assisting rehabilitation activities of the hand as well as applications involving virtual reality and teleoperation.

Download Full-text

Design and Implementation of Artificial Human Hand Model Based on Eye Blink Detection

SSRN Electronic Journal ◽

10.2139/ssrn.3643586 ◽

2020 ◽

Author(s):

K Prasanthi Jasmine ◽

SK Mahaboob Subhani ◽

V Ajith ◽

CH Rakesh Kumar

Keyword(s):

Human Hand ◽

Eye Blink ◽

Design And Implementation ◽

Model Based ◽

Hand Model ◽

Blink Detection ◽

Human Hand Model

Download Full-text

A natural human hand model

The Visual Computer ◽

10.1007/s00371-007-0176-x ◽

2007 ◽

Vol 24 (1) ◽

pp. 31-44 ◽

Cited By ~ 31

Author(s):

Onno A. van Nierop ◽

Aadjan van der Helm ◽

Kees J. Overbeeke ◽

Tom J.P. Djajadiningrat

Keyword(s):

Human Hand ◽

Hand Model ◽

Human Hand Model

Download Full-text

Determination of the Optimum Cost-Residual Error Trade-off in Robot Calibration

Journal of Mechanical Design ◽

10.1115/1.2919360 ◽

1994 ◽

Vol 116 (1) ◽

pp. 28-35 ◽

Cited By ~ 1

Author(s):

G. Zak ◽

R. G. Fenton ◽

B. Benhabib

Keyword(s):

Kinematic Model ◽

Optimization Procedure ◽

Calibration Procedure ◽

Residual Error ◽

Industrial Robots ◽

Multiple Objective Optimization ◽

Robot Calibration ◽

Optimum Cost ◽

The Cost

Most industrial robots cannot be off-line programmed to carry out a task accurately, unless their kinematic model is suitably corrected through a calibration procedure. However, proper calibration is an expensive and time-consuming procedure due to the highly accurate measurement equipment required and due to the significant amount of data that must be collected. To improve the efficiency of robot calibration, an optimization procedure is proposed in this paper. The objective of minimizing the cost of the calibration is combined with the objective of minimizing the residual error after calibration in one multiple-objective optimization. Prediction of the residual error for a given calibration process presents the main difficulty for implementing the optimization. It is proposed that the residual error is expressed as a polynomial function. This function is obtained as a result of fitting a response surface to either experimental or simulated sample estimates of the residual error. The optimization problem is then solved by identifying a reduced set of possible solutions, thus greatly simplifying the decision maker’s choice of an effective calibration procedure. An application example of this method is also included.

Download Full-text